相关论文: Detaching and Boosting: Dual Engine for Scale-Inva…

Self-supervised monocular depth estimation (MDE) models universally suffer from the notorious edge-fattening issue. Triplet loss, as a widespread metric learning strategy, has largely succeeded in many computer vision applications. In this…

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…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Estimating depth from a single image is a challenging visual task. Compared to relative depth estimation, metric depth estimation attracts more attention due to its practical physical significance and critical applications in real-life…

Dense depth completion is essential for autonomous systems and 3D reconstruction. In this paper, a lightweight yet efficient network (S\&CNet) is proposed to obtain a good trade-off between efficiency and accuracy for the dense depth…

Monocular depth foundation models generalize well across scenes, yet they are typically optimized with uniform pixel-wise objectives that do not distinguish user-specified or task-relevant target regions from the surrounding context. We…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Current self-supervised monocular depth estimation (MDE) approaches encounter performance limitations due to insufficient semantic-spatial knowledge extraction. To address this challenge, we propose Hybrid-depth, a novel framework that…

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…

Self-supervised monocular depth estimation has received much attention recently in computer vision. Most of the existing works in literature aggregate multi-scale features for depth prediction via either straightforward concatenation or…

Shape from Focus (SFF) is a depth reconstruction technique that estimates scene structure from focus variations observed across a focal stack, that is, a sequence of images captured at different focus settings. A key limitation of SFF…

Large-scale multimodal contrastive learning has recently achieved impressive success in learning rich and transferable representations, yet it remains fundamentally limited by the uniform treatment of feature dimensions and the neglect of…

In this paper, we address the task of aberration-aware depth-from-defocus (DfD), which takes account of spatially variant point spread functions (PSFs) of a real camera. To effectively obtain the spatially variant PSFs of a real camera…

Monocular depth estimation (MDE) with self-supervised training approaches struggles in low-texture areas, where photometric losses may lead to ambiguous depth predictions. To address this, we propose a novel technique that enhances spatial…

Recent advances in end-to-end unsupervised learning has significantly improved the performance of monocular depth prediction and alleviated the requirement of ground truth depth. Although a plethora of work has been done in enforcing…

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…

This paper proposes a novel method of estimating the absolute scale of monocular SfM for a multi-modal stereo camera. In the fields of computer vision and robotics, scale estimation for monocular SfM has been widely investigated in order to…

Without ground truth supervision, self-supervised depth estimation can be trapped in a local minimum due to the gradient-locality issue of the photometric loss. In this paper, we present a framework to enhance depth by leveraging semantic…