相关论文: A technique to jointly estimate depth and depth un…

Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…

Aerial scene understanding systems face stringent payload restrictions and must often rely on monocular depth estimation for modeling scene geometry, which is an inherently ill-posed problem. Moreover, obtaining accurate ground truth data…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Gated imaging is an emerging sensor technology for self-driving cars that provides high-contrast images even under adverse weather influence. It has been shown that this technology can even generate high-fidelity dense depth maps with…

While recent foundation models have enabled significant breakthroughs in monocular depth estimation, a clear path towards safe and reliable deployment in the real-world remains elusive. Metric depth estimation, which involves predicting…

In monocular depth estimation, disturbances in the image context, like moving objects or reflecting materials, can easily lead to erroneous predictions. For that reason, uncertainty estimates for each pixel are necessary, in particular for…

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…

Recovering a dense depth image from sparse LiDAR scans is a challenging task. Despite the popularity of color-guided methods for sparse-to-dense depth completion, they treated pixels equally during optimization, ignoring the uneven…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

Computer vision-based object detection is a key modality for advanced Detect-And-Avoid systems that allow for autonomous flight missions of UAVs. While standard object detection frameworks do not predict the actual depth of an object, this…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Uncertainty Quantification (UQ) is crucial for ensuring the reliability of machine learning models deployed in real-world autonomous systems. However, existing approaches typically quantify task-level output prediction uncertainty without…

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…

In the last year, universal monocular metric depth estimation (universal MMDE) has gained considerable attention, serving as the foundation model for various multimedia tasks, such as video and image editing. Nonetheless, current approaches…

Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…

Sharing information between connected and autonomous vehicles (CAVs) fundamentally improves the performance of collaborative object detection for self-driving. However, CAVs still have uncertainties on object detection due to practical…

Reliable uncertainty estimation is critical for deploying monocular depth deep neural networks (DNNs) in safety-critical robotic systems. Conventional uncertainty methods such as ensembles and sampling-based approaches require multiple…

Multiple near frontal-parallel planes based depth representation demonstrated impressive results in self-supervised monocular depth estimation (MDE). Whereas, such a representation would cause the discontinuity of the ground as it is…