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

This paper tackles the problem of depth estimation from a single image. Existing work either focuses on generalization performance disregarding metric scale, i.e. relative depth estimation, or state-of-the-art results on specific datasets,…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered glamorous in any sense of the word, it is nonetheless crucial…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images…

Existing inverse physics methods recover physical parameters from multi-view videos, where geometric constraints across views resolve scale and 3D structure. In monocular settings, however, such constraints are absent, leading to severe…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Model generalizability to unseen datasets, concerned with in-the-wild robustness, is less studied for indoor single-image depth prediction. We leverage gradient-based meta-learning for higher generalizability on zero-shot cross-dataset…

Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…

Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics…

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…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…

Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…

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…

Accurate depth estimation with lowest compute and energy cost is a crucial requirement for unmanned and battery operated autonomous systems. Robotic applications require real time depth estimation for navigation and decision making under…

One-shot image classification aims to train image classifiers over the dataset with only one image per category. It is challenging for modern deep neural networks that typically require hundreds or thousands of images per class. In this…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…