相关论文: DualRefine: Self-Supervised Depth and Pose Estimat…

In this paper a deterministic preprocessing algorithm is presented, whose output can be given as input to most state-of-the-art epipolar geometry estimation algorithms, improving their results considerably. They are now able to succeed on…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Multi-view stereo depth estimation based on cost volume usually works better than self-supervised monocular depth estimation except for moving objects and low-textured surfaces. So in this paper, we propose a multi-frame depth estimation…

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…

We present a robust and accurate depth refinement system, named GeoRefine, for geometrically-consistent dense mapping from monocular sequences. GeoRefine consists of three modules: a hybrid SLAM module using learning-based priors, an online…

Keypoint matching can be slow and unreliable in challenging conditions such as repetitive textures or wide-baseline views. In such cases, known geometric relations (e.g., the fundamental matrix) can be used to restrict potential…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

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 present an unsupervised approach for learning to estimate three dimensional (3D) facial structure from a single image while also predicting 3D viewpoint transformations that match a desired pose and facial geometry. We achieve this by…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Accurate spatial understanding is essential for image-guided surgery, augmented reality integration and context awareness. In minimally invasive procedures, where visual input is the sole intraoperative modality, establishing precise…

We present a novel method for multi-view depth estimation from a single video, which is a critical task in various applications, such as perception, reconstruction and robot navigation. Although previous learning-based methods have…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning. Most existing methods assume that a consistent scale of depth and pose can be learned across all input samples, which makes…

In this study, we propose a high-performance disparity (depth) estimation method using dual-pixel (DP) images with few parameters. Conventional end-to-end deep-learning methods have many parameters but do not fully exploit disparity…

We propose a novel two-stage framework for sensor depth enhancement, called Perfecting Depth. This framework leverages the stochastic nature of diffusion models to automatically detect unreliable depth regions while preserving geometric…

This paper presents a novel self-supervised two-frame multi-camera metric depth estimation network, termed M${^2}$Depth, which is designed to predict reliable scale-aware surrounding depth in autonomous driving. Unlike the previous works…