相关论文: SQLdepth: Generalizable Self-Supervised Fine-Struc…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…

Self-supervised monocular depth estimation (SSMDE) aims to predict the dense depth map of a monocular image, by learning depth from RGB image sequences, eliminating the need for ground-truth depth labels. Although this approach simplifies…

Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…

In classical computer vision, rectification is an integral part of multi-view depth estimation. It typically includes epipolar rectification and lens distortion correction. This process simplifies the depth estimation significantly, and…

Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor…

With the frequent use of self-supervised monocular depth estimation in robotics and autonomous driving, the model's efficiency is becoming increasingly important. Most current approaches apply much larger and more complex networks to…

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…

Single view depth estimation models can be trained from video footage using a self-supervised end-to-end approach with view synthesis as the supervisory signal. This is achieved with a framework that predicts depth and camera motion, with a…

Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…

Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

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…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

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…

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To…

Self-supervised learning has shown very promising results for monocular depth estimation. Scene structure and local details both are significant clues for high-quality depth estimation. Recent works suffer from the lack of explicit modeling…