相关论文: Versatile Depth Estimator Based on Common Relative…
Monocular depth estimation (MDE) is a challenging task in computer vision, often hindered by the cost and scarcity of high-quality labeled datasets. We tackle this challenge using auxiliary datasets from related vision tasks for an…
Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…
Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
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…
Monocular depth estimation is a critical function in computer vision applications. This paper shows that large language models (LLMs) can effectively interpret depth with minimal supervision, using efficient resource utilization and a…
In the area of self-supervised monocular depth estimation, models that utilize rich-resource inputs, such as high-resolution and multi-frame inputs, typically achieve better performance than models that use ordinary single image input.…
We propose PureCLIP-Depth, a completely prompt-free, decoder-free Monocular Depth Estimation (MDE) model that operates entirely within the Contrastive Language-Image Pre-training (CLIP) embedding space. Unlike recent models that rely…
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…
Monocular omnidirectional depth estimation is receiving considerable research attention due to its broad applications for sensing 360{\deg} surroundings. Existing approaches in this field suffer from limitations in recovering small object…
Monocular depth estimation is a rudimentary task in robotic perception. Recently, with the development of more accurate and robust neural network models and different types of datasets, monocular depth estimation has significantly improved…
Monocular depth estimation (MDE) from thermal images is a crucial technology for robotic systems operating in challenging conditions such as fog, smoke, and low light. The limited availability of labeled thermal data constrains the…
In the field of monocular depth estimation (MDE), many models with excellent zero-shot performance in general scenes emerge recently. However, these methods often fail in predicting non-Lambertian surfaces, such as transparent or mirror…
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…
Multi-Camera arrays are increasingly employed in both consumer and industrial applications, and various passive techniques are documented to estimate depth from such camera arrays. Current depth estimation methods provide useful estimations…
Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…
Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…
Event cameras capture sparse, high-temporal-resolution visual information, making them particularly suitable for challenging environments with high-speed motion and strongly varying lighting conditions. However, the lack of large datasets…