相关论文: Pose Constraints for Consistent Self-supervised Mo…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

Monocular depth estimation has greatly improved in the recent years but models predicting metric depth still struggle to generalize across diverse camera poses and datasets. While recent supervised methods mitigate this issue by leveraging…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

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…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

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…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Self-supervised depth estimation from monocular sequences relies on the joint learning of a depth and a pose network. Despite abundant research done to improve the depth network, efforts on the pose remain limited. In this context, even…

Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

Relative monocular depth, inferring depth up to shift and scale from a single image, is an active research topic. Recent deep learning models, trained on large and varied meta-datasets, now provide excellent performance in the domain of…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

Self-supervised monocular depth and ego-motion estimation is a promising approach to replace or supplement expensive depth sensors such as LiDAR for robotics applications like autonomous driving. However, most research in this area focuses…

Self-supervised monocular depth estimation methods aim to be used in critical applications such as autonomous vehicles for environment analysis. To circumvent the potential imperfections of these approaches, a quantification of the…

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…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…