相关论文: Unsupervised Learning of Depth, Camera Pose and Op…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above,…

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the…

Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

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…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

In the current monocular depth research, the dominant approach is to employ unsupervised training on large datasets, driven by warped photometric consistency. Such approaches lack robustness and are unable to generalize to challenging…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Image-based depth estimation has gained significant attention in recent research on computer vision for autonomous vehicles in intelligent transportation systems. This focus stems from its cost-effectiveness and wide range of potential…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

This paper presents an unsupervised deep learning framework called UnDEMoN for estimating dense depth map and 6-DoF camera pose information directly from monocular images. The proposed network is trained using unlabeled monocular stereo…

Photorealistic 3-D reconstruction from monocular video collapses in large-scale scenes when depth, pose, and radiance are solved in isolation: scale-ambiguous depth yields ghost geometry, long-horizon pose drift corrupts alignment, and a…