相关论文: Global-Local Path Networks for Monocular Depth Est…

Convolutional neural networks (CNN) have shown state-of-the-art results for low-level computer vision problems such as stereo and monocular disparity estimations, but still, have much room to further improve their performance in terms of…

Monocular depth inference is a fundamental problem for scene perception of robots. Specific robots may be equipped with a camera plus an optional depth sensor of any type and located in various scenes of different scales, whereas recent…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Self-supervised monocular depth estimation methods have been increasingly given much attention due to the benefit of not requiring large, labelled datasets. Such self-supervised methods require high-quality salient features and consequently…

Self-supervised learning for depth estimation uses geometry in image sequences for supervision and shows promising results. Like many computer vision tasks, depth network performance is determined by the capability to learn accurate spatial…

Local feature provides compact and invariant image representation for various visual tasks. Current deep learning-based local feature algorithms always utilize convolution neural network (CNN) architecture with limited receptive field.…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

Depth estimation provides an alternative approach for perceiving 3D information in autonomous driving. Monocular depth estimation, whether with single-frame or multi-frame inputs, has achieved significant success by learning various types…

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…

Estimating the accurate depth from a single image is challenging since it is inherently ambiguous and ill-posed. While recent works design increasingly complicated and powerful networks to directly regress the depth map, we take the path of…

Disconnectivity and distortion are the two problems which must be coped with when processing 360 degrees equirectangular images. In this paper, we propose a method of estimating the depth of monocular panoramic image with a teacher-student…

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 Depth Estimation (MDE) is a fundamental computer vision task with important applications in 3D vision. The current mainstream MDE methods employ an encoder-decoder architecture with multi-level/scale feature processing. However,…

Monocular depth prediction is an important task in scene understanding. It aims to predict the dense depth of a single RGB image. With the development of deep learning, the performance of this task has made great improvements. However, two…

This paper addresses the problem of depth estimation from a single still image. Inspired by recent works on multi- scale convolutional neural networks (CNN), we propose a deep model which fuses complementary information derived from…

Inferring geometrically consistent dense 3D scenes across a tuple of temporally consecutive images remains challenging for self-supervised monocular depth prediction pipelines. This paper explores how the increasingly popular transformer…

Visual perception plays a pivotal role in enabling autonomous behavior, offering a cost-effective and efficient alternative to complex multi-sensor systems. However, robust segmentation remains a challenge in complex scenarios. To address…

Monocular depth estimation is a fundamental computer vision task. Recovering 3D depth from a single image is geometrically ill-posed and requires scene understanding, so it is not surprising that the rise of deep learning has led to a…

Recent years have witnessed the great advance of deep learning in a variety of vision tasks. Many state-of-the-art deep neural networks suffer from large size and high complexity, which makes it difficult to deploy in resource-limited…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…