相关论文: RM-Depth: Unsupervised Learning of Recurrent Monoc…

The RGB-D camera maintains a limited range for working and is hard to accurately measure the depth information in a far distance. Besides, the RGB-D camera will easily be influenced by strong lighting and other external factors, which will…

Accurate and efficient dense metric depth estimation is crucial for 3D visual perception in robotics and XR. In this paper, we develop a monocular visual-inertial motion and depth (VIMD) learning framework to estimate dense metric depth by…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Monocular depth estimation plays a fundamental role in computer vision. Due to the costly acquisition of depth ground truth, self-supervised methods that leverage adjacent frames to establish a supervisory signal have emerged as the most…

It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…

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…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

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 this paper we present a novel self-supervised method to anticipate the depth estimate for a future, unobserved real-world urban scene. This work is the first to explore self-supervised learning for estimation of monocular depth of future…

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…

We present a model for the joint estimation of disparity and motion. The model is based on learning about the interrelations between images from multiple cameras, multiple frames in a video, or the combination of both. We show that learning…

Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…

Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…

Over the past few years, self-supervised monocular depth estimation that does not depend on ground-truth during the training phase has received widespread attention. Most efforts focus on designing different types of network architectures…

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…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…