相关论文: Dyna-DM: Dynamic Object-aware Self-supervised Mono…

Self-supervised monocular depth estimation (SSMDE) aims to predict the dense depth map of a monocular image, by learning depth from RGB image sequences, eliminating the need for ground-truth depth labels. Although this approach simplifies…

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.…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on…

Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and…

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…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Self-supervised depth estimation has shown its great effectiveness in producing high quality depth maps given only image sequences as input. However, its performance usually drops when estimating on border areas or objects with thin…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Self-supervised monocular depth estimation methods aim to be used in critical applications such as autonomous vehicles for environment analysis. To circumvent the potential imperfections of these approaches, a quantification of the…

In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…

Monocular depth estimation is an especially important task in robotics and autonomous driving, where 3D structural information is essential. However, extreme lighting conditions and complex surface objects make it difficult to predict depth…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

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.…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

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…

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…

In recent years, self-supervised methods for monocular depth estimation has rapidly become an significant branch of depth estimation task, especially for autonomous driving applications. Despite the high overall precision achieved, current…