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

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…

We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute…

In the field of monocular depth estimation (MDE), many models with excellent zero-shot performance in general scenes emerge recently. However, these methods often fail in predicting non-Lambertian surfaces, such as transparent or mirror…

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the…

This paper addresses the task of zero-shot image classification. The key contribution of the proposed approach is to control the semantic embedding of images -- one of the main ingredients of zero-shot learning -- by formulating it as a…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

Self-supervised learning for monocular depth estimation is widely investigated as an alternative to supervised learning approach, that requires a lot of ground truths. Previous works have successfully improved the accuracy of depth…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

3D plane reconstruction from a single image is a crucial yet challenging topic in 3D computer vision. Previous state-of-the-art (SOTA) methods have focused on training their system on a single dataset from either indoor or outdoor domain,…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…

Monocular 3D object detection poses a significant challenge due to the lack of depth information in RGB images. Many existing methods strive to enhance the object depth estimation performance by allocating additional parameters for object…

Photorealistic 3-D reconstruction from monocular video collapses in large-scale scenes when depth, pose, and radiance are solved in isolation: scale-ambiguous depth yields ghost geometry, long-horizon pose drift corrupts alignment, and a…

3D object detection is a fundamental and challenging task for 3D scene understanding, and the monocular-based methods can serve as an economical alternative to the stereo-based or LiDAR-based methods. However, accurately detecting objects…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…

Learning accurate depth is essential to multi-view 3D object detection. Recent approaches mainly learn depth from monocular images, which confront inherent difficulties due to the ill-posed nature of monocular depth learning. Instead of…