相关论文: Learning Optical Flow, Depth, and Scene Flow witho…

In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Conventional self-supervised monocular depth prediction methods are based on a static environment assumption, which leads to accuracy degradation in dynamic scenes due to the mismatch and occlusion problems introduced by object motions.…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

Optical flow estimation is a basic task in self-driving and robotics systems, which enables to temporally interpret traffic scenes. Autonomous vehicles clearly benefit from the ultra-wide Field of View (FoV) offered by 360{\deg} panoramic…

In the era of end-to-end deep learning, many advances in computer vision are driven by large amounts of labeled data. In the optical flow setting, however, obtaining dense per-pixel ground truth for real scenes is difficult and thus such…

Unsupervised deep learning for optical flow computation has achieved promising results. Most existing deep-net based methods rely on image brightness consistency and local smoothness constraint to train the networks. Their performance…

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…

We present a novel approach for unsupervised learning of depth and ego-motion from monocular video. Unsupervised learning removes the need for separate supervisory signals (depth or ego-motion ground truth, or multi-view video). Prior work…

This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…

We introduce MGNet, a multi-task framework for monocular geometric scene understanding. We define monocular geometric scene understanding as the combination of two known tasks: Panoptic segmentation and self-supervised monocular depth…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

The accuracy of learning-based optical flow estimation models heavily relies on the realism of the training datasets. Current approaches for generating such datasets either employ synthetic data or generate images with limited realism.…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

Learning single image depth estimation model from monocular video sequence is a very challenging problem. In this paper, we propose a novel training loss which enables us to include more images for supervision during the training process.…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Unsupervised video object segmentation (VOS) aims to detect the most prominent object in a video. Recently, two-stream approaches that leverage both RGB images and optical flow have gained significant attention, but their performance is…

In this work, we propose a method that combines unsupervised deep learning predictions for optical flow and monocular disparity with a model based optimization procedure for instantaneous camera pose. Given the flow and disparity…

Accurate monocular depth estimation is a fundamental component of vision-based perception systems in intelligent transportation applications. Despite recent progress, unsupervised monocular approaches still suffer from significant…

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…