相关论文: Depth Monocular Estimation with Attention-based En…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

Depth estimation plays an important role in the robotic perception system. Self-supervised monocular paradigm has gained significant attention since it can free training from the reliance on depth annotations. Despite recent advancements,…

It is difficult to collect data on a large scale in a monocular depth estimation because the task requires the simultaneous acquisition of RGB images and depths. Data augmentation is thus important to this task. However, there has been…

Monocular depth estimation is a fundamental computer vision task. Recovering 3D depth from a single image is geometrically ill-posed and requires scene understanding, so it is not surprising that the rise of deep learning has led to a…

Convolutional Neural Networks (CNNs) need large amounts of data with ground truth annotation, which is a challenging problem that has limited the development and fast deployment of CNNs for many computer vision tasks. We propose a novel…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously…

Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth…

Autonomous cars need continuously updated depth information. Thus far, depth is mostly estimated independently for a single frame at a time, even if the method starts from video input. Our method produces a time series of depth maps, which…

Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…

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…

Monocular depth estimation in endoscopy videos can enable assistive and robotic surgery to obtain better coverage of the organ and detection of various health issues. Despite promising progress on mainstream, natural image depth estimation,…

360{\deg} cameras can capture complete environments in a single shot, which makes 360{\deg} imagery alluring in many computer vision tasks. However, monocular depth estimation remains a challenge for 360{\deg} data, particularly for high…

Defocus Blur Detection(DBD) aims to separate in-focus and out-of-focus regions from a single image pixel-wisely. This task has been paid much attention since bokeh effects are widely used in digital cameras and smartphone photography.…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

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…

Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and…

We formulate monocular depth estimation using denoising diffusion models, inspired by their recent successes in high fidelity image generation. To that end, we introduce innovations to address problems arising due to noisy, incomplete depth…

Purpose: Monocular depth estimation (MDE) is vital for scene understanding in minimally invasive surgery (MIS). However, endoscopic video sequences are often contaminated by smoke, specular reflections, blur, and occlusions, limiting the…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…