相关论文: Toward Practical Monocular Indoor Depth Estimation

In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…

In many fields, self-supervised learning solutions are rapidly evolving and filling the gap with supervised approaches. This fact occurs for depth estimation based on either monocular or stereo, with the latter often providing a valid…

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a…

Supervised learning based methods for monocular depth estimation usually require large amounts of extensively annotated training data. In the case of aerial imagery, this ground truth is particularly difficult to acquire. Therefore, in this…

Monocular relative and metric depth estimation has seen a tremendous boost in the last few years due to the sharp advancements in foundation models and in particular transformer based networks. As we start to see applications to the domain…

We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

Monocular depth estimation is an ambiguous problem, thus global structural cues play an important role in current data-driven single-view depth estimation methods. Panorama images capture the complete spatial information of their…

3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Monocular 3D object detection aims to locate objects in different scenes with just a single image. Due to the absence of depth information, several monocular 3D detection techniques have emerged that rely on auxiliary depth maps from the…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

This work presents EndoStreamDepth, a monocular depth estimation framework for endoscopic video streams. It provides accurate depth maps with sharp anatomical boundaries for each frame, temporally consistent predictions across frames, and…

In recent years, the emergence of foundation models for depth prediction has led to remarkable progress, particularly in zero-shot monocular depth estimation. These models generate impressive depth predictions; however, their outputs are…

Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…

Self-supervised monocular depth estimation has received much attention recently in computer vision. Most of the existing works in literature aggregate multi-scale features for depth prediction via either straightforward concatenation or…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…