相关论文: Toward Practical Monocular Indoor Depth Estimation

Existing methods for scale-invariant monocular depth estimation (SI MDE) often struggle due to the complexity of the task, and limited and non-diverse datasets, hindering generalizability in real-world scenarios. This is while…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Beyond depth estimation from a single image, the monocular cue is useful in a broader range of depth inference applications and settings---such as when one can leverage other available depth cues for improved accuracy. Currently, different…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

We propose a depth map inference system from monocular videos based on a novel dataset for navigation that mimics aerial footage from gimbal stabilized monocular camera in rigid scenes. Unlike most navigation datasets, the lack of rotation…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

Fluid-filled soft visuotactile sensors such as the Soft-bubbles alleviate key challenges for robust manipulation, as they enable reliable grasps along with the ability to obtain high-resolution sensory feedback on contact geometry and…

The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an affine-invariant disparity map, the favored technique to…

Recently, the performance of monocular depth estimation (MDE) has been significantly boosted with the integration of transformer models. However, the transformer models are usually computationally-expensive, and their effectiveness in…

In this paper, we deal with the problem of monocular depth estimation for fisheye cameras in a self-supervised manner. A known issue of self-supervised depth estimation is that it suffers in low-light/over-exposure conditions and in large…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

We present DeepPerimeter, a deep learning based pipeline for inferring a full indoor perimeter (i.e. exterior boundary map) from a sequence of posed RGB images. Our method relies on robust deep methods for depth estimation and wall…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

While methods for monocular depth estimation have made significant strides on standard benchmarks, zero-shot metric depth estimation remains unsolved. Challenges include the joint modeling of indoor and outdoor scenes, which often exhibit…