相关论文: Semi-Supervised Semantic Depth Estimation using Sy…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

Self-supervised monocular depth estimation has been widely studied, owing to its practical importance and recent promising improvements. However, most works suffer from limited supervision of photometric consistency, especially in weak…

Scene Parsing is a crucial step to enable autonomous systems to understand and interact with their surroundings. Supervised deep learning methods have made great progress in solving scene parsing problems, however, come at the cost of…

This research presents a novel depth estimation algorithm based on a Transformer-encoder architecture, tailored for the NYU and KITTI Depth Dataset. This research adopts a transformer model, initially renowned for its success in natural…

Self-supervised depth estimation has shown its great effectiveness in producing high quality depth maps given only image sequences as input. However, its performance usually drops when estimating on border areas or objects with thin…

Multi-task learning (MTL) paradigm focuses on jointly learning two or more tasks, aiming for significant improvement w.r.t model's generalizability, performance, and training/inference memory footprint. The aforementioned benefits become…

The exploration of mutual-benefit cross-domains has shown great potential toward accurate self-supervised depth estimation. In this work, we revisit feature fusion between depth and semantic information and propose an efficient local…

Recently, increasing attention has been drawn to training semantic segmentation models using synthetic data and computer-generated annotation. However, domain gap remains a major barrier and prevents models learned from synthetic data from…

Domain adaptation for semantic segmentation aims to improve the model performance in the presence of a distribution shift between source and target domain. Leveraging the supervision from auxiliary tasks~(such as depth estimation) has the…

Data-driven depth estimation methods struggle with the generalization outside their training scenes due to the immense variability of the real-world scenes. This problem can be partially addressed by utilising synthetically generated…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

Without ground truth supervision, self-supervised depth estimation can be trapped in a local minimum due to the gradient-locality issue of the photometric loss. In this paper, we present a framework to enhance depth by leveraging semantic…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

Self-supervised depth estimation has evolved into an image reconstruction task that minimizes a photometric loss. While recent methods have made strides in indoor depth estimation, they often produce inconsistent depth estimation in…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…

Since the advent of Neural Radiance Fields, novel view synthesis has received tremendous attention. The existing approach for the generalization of radiance field reconstruction primarily constructs an encoding volume from nearby source…

Semi-supervised semantic segmentation has witnessed remarkable advancements in recent years. However, existing algorithms are based on convolutional neural networks and directly applying them to Vision Transformers poses certain limitations…