相关论文: A geometry-aware deep network for depth estimation…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…

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…

Inferring geometrically consistent dense 3D scenes across a tuple of temporally consecutive images remains challenging for self-supervised monocular depth prediction pipelines. This paper explores how the increasingly popular transformer…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

Accurate depth and camera pose estimation is essential for achieving high-quality 3D visualisations in robotic-assisted surgery. Despite recent advancements in foundation model adaptation to monocular depth estimation of endoscopic scenes…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Colonoscopy screening is the gold standard procedure for assessing abnormalities in the colon and rectum, such as ulcers and cancerous polyps. Measuring the abnormal mucosal area and its 3D reconstruction can help quantify the surveyed area…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…

Depth perception is a crucial component of monoc-ular 3D detection tasks that typically involve ill-posed problems. In light of the success of sample mining techniques in 2D object detection, we propose a simple yet effective mining…

We introduce a novel approach for depth estimation using images obtained from monocular structured light systems. In contrast to many existing methods that depend on image matching, our technique employs a density voxel grid to represent…

In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently risen to prominence…

Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…

Monocular depth estimation (MDE) for colonoscopy is hampered by the domain gap between simulated and real-world images. Existing image-to-image translation methods, which use depth as a posterior constraint, often produce structural…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…