相关论文: Metric3D: Towards Zero-shot Metric 3D Prediction f…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

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…

One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…

Monocular depth estimation has recently progressed beyond ordinal depth to provide metric depth predictions. However, its reliability in underwater environments remains limited due to light attenuation and scattering, color distortion,…

Monocular 3D estimation is crucial for visual perception. However, current methods fall short by relying on oversimplified assumptions, such as pinhole camera models or rectified images. These limitations severely restrict their general…

Computing accurate depth from multiple views is a fundamental and longstanding challenge in computer vision. However, most existing approaches do not generalize well across different domains and scene types (e.g. indoor vs. outdoor).…

Learning depth from a single image, as an important issue in scene understanding, has attracted a lot of attention in the past decade. The accuracy of the depth estimation has been improved from conditional Markov random fields,…

Previous monocular depth estimation methods take a single view and directly regress the expected results. Though recent advances are made by applying geometrically inspired loss functions during training, the inference procedure does not…

Stereo matching serves as a cornerstone in 3D vision, aiming to establish pixel-wise correspondences between stereo image pairs for depth recovery. Despite remarkable progress driven by deep neural architectures, current models often…

Low-overlap aerial imagery poses significant challenges to traditional photogrammetric methods, which rely heavily on high image overlap to produce accurate and complete mapping products. In this study, we propose a novel workflow based 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…

We tackle the problem of monocular 3D object detection across different sensors, environments, and camera setups. In this paper, we introduce a novel unsupervised domain adaptation approach, MonoCT, that generates highly accurate pseudo…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…

Monocular depth inference is a fundamental problem for scene perception of robots. Specific robots may be equipped with a camera plus an optional depth sensor of any type and located in various scenes of different scales, whereas recent…

Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…

Per-object distance estimation is critical in surveillance and autonomous driving, where safety is crucial. While existing methods rely on geometric or deep supervised features, only a few attempts have been made to leverage self-supervised…

As an inherently ill-posed problem, depth estimation from single images is the most challenging part of monocular 3D object detection (M3OD). Many existing methods rely on preconceived assumptions to bridge the missing spatial information…