相关论文: Deep Planar Parallax for Monocular Depth Estimatio…

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 is an ill-posed problem as the same 2D image can be projected from infinite 3D scenes. Although the leading algorithms in this field have reported significant improvement, they are essentially geared to the…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Learning depth and optical flow via deep neural networks by watching videos has made significant progress recently. In this paper, we jointly solve the two tasks by exploiting the underlying geometric rules within stereo videos.…

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…

We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth…

Event cameras can record scene dynamics with high temporal resolution, providing rich scene details for monocular depth estimation (MDE) even at low-level illumination. Therefore, existing complementary learning approaches for MDE fuse…

We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

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…

We integrate sparse radar data into a monocular depth estimation model and introduce a novel preprocessing method for reducing the sparseness and limited field of view provided by radar. We explore the intrinsic error of different radar…

Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance on standard benchmarks does not offer a complete…

Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without…

We revisit the problem of visual depth estimation in the context of autonomous vehicles. Despite the progress on monocular depth estimation in recent years, we show that the gap between monocular and stereo depth accuracy remains large$-$a…

Omnidirectional 3D information is essential for a wide range of applications such as Virtual Reality, Autonomous Driving, Robotics, etc. In this paper, we propose a novel, model-agnostic, two-stage pipeline for omnidirectional monocular…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Depth estimation from monocular images is a challenging problem in computer vision. In this paper, we tackle this problem using a novel network architecture using multi scale feature fusion. Our network uses two different blocks, first…

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…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

This work presents a novel approach for monocular dense Simultaneous Localization and Mapping. The surface to be estimated is represented as a piecewise planar surface, defined as a group of surfels each having as parameters its position…