相关论文: A high-precision self-supervised monocular visual …
Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…
It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…
Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for…
Monocular depth estimation aims at predicting depth from a single image or video. Recently, self-supervised methods draw much attention since they are free of depth annotations and achieve impressive performance on several daytime…
Recently end-to-end unsupervised deep learning methods have achieved an effect beyond geometric methods for visual depth and ego-motion estimation tasks. These data-based learning methods perform more robustly and accurately in some of the…
Adverse weather conditions, including snow, rain, and fog, pose a major challenge for both human and computer vision. Handling these environmental conditions is essential for safe decision making, especially in autonomous vehicles,…
We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…
Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…
Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…
Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…
Autonomous driving significantly benefits from data-driven deep neural networks. However, the data in autonomous driving typically fits the long-tailed distribution, in which the critical driving data in adverse conditions is hard to…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
This paper addresses the problem of Monocular Depth Estimation (MDE). Existing approaches on MDE usually model it as a pixel-level regression problem, ignoring the underlying geometry property. We empirically find this may result in…
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…
In this paper we address the benefit of adding adversarial training to the task of monocular depth estimation. A model can be trained in a self-supervised setting on stereo pairs of images, where depth (disparities) are an intermediate…
Recent techniques in self-supervised monocular depth estimation are approaching the performance of supervised methods, but operate in low resolution only. We show that high resolution is key towards high-fidelity self-supervised monocular…
Self-supervised depth estimation from monocular cameras in diverse outdoor conditions, such as daytime, rain, and nighttime, is challenging due to the difficulty of learning universal representations and the severe lack of labeled…
Recent self-supervised stereo matching methods have made significant progress, but their performance significantly degrades under adverse weather conditions such as night, rain, and fog. We identify two primary weaknesses contributing to…
Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…
The advent of deep learning has brought an impressive advance to monocular depth estimation, e.g., supervised monocular depth estimation has been thoroughly investigated. However, the large amount of the RGB-to-depth dataset may not be…