相关论文: On the Viability of Monocular Depth Pre-training f…

Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

In this work we study the mutual benefits of two common computer vision tasks, self-supervised depth estimation and semantic segmentation from images. For example, to help unsupervised monocular depth estimation, constraints from semantic…

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…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be…

For a robot deployed in the world, it is desirable to have the ability of autonomous learning to improve its initial pre-set knowledge. We formalize this as a bootstrapped self-supervised learning problem where a system is initially…

Although recent semantic segmentation methods have made remarkable progress, they still rely on large amounts of annotated training data, which are often infeasible to collect in the autonomous driving scenario. Previous works usually…

Pre-trained encoders are widely employed in dense prediction tasks for their capability to effectively extract visual features from images. The decoder subsequently processes these features to generate pixel-level predictions. However, due…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

Self-supervised monocular depth estimation has been widely studied, owing to its practical importance and recent promising improvements. However, most works suffer from limited supervision of photometric consistency, especially in weak…

Monocular depth estimation is one of the fundamental tasks in environmental perception and has achieved tremendous progress in virtue of deep learning. However, the performance of trained models tends to degrade or deteriorate when employed…

Vision and language tasks such as Visual Relation Detection and Visual Question Answering benefit from semantic features that afford proper grounding of language. The 3D depth of objects depicted in 2D images is one such feature. However it…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

Robust geometric and semantic scene understanding is ever more important in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based approach capable of jointly…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

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…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…