相关论文: EMR-MSF: Self-Supervised Recurrent Monocular Scene…

Self-supervised monocular depth estimation is a salient task for 3D scene understanding. Learned jointly with monocular ego-motion estimation, several methods have been proposed to predict accurate pixel-wise depth without using labeled…

In recent years, monocular depth estimation is applied to understand the surrounding 3D environment and has made great progress. However, there is an ill-posed problem on how to gain depth information directly from a single image. With the…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

This paper introduces a robust framework for motion segmentation and egomotion estimation using event-based normal flow, tailored specifically for neuromorphic vision sensors. In contrast to traditional methods that rely heavily on optical…

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…

Recently, self-supervised monocular depth estimation has gained popularity with numerous applications in autonomous driving and robotics. However, existing solutions primarily seek to estimate depth from immediate visual features, and…

Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…

Monocular Semantic Scene Completion (MSSC) aims to predict the voxel-wise occupancy and semantic category from a single-view RGB image. Existing methods adopt a single-stage framework that aims to simultaneously achieve visible region…

The optical flow of natural scenes is a combination of the motion of the observer and the independent motion of objects. Existing algorithms typically focus on either recovering motion and structure under the assumption of a purely static…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

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…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…

Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and…

In this paper, we propose a unified method to jointly learn optical flow and stereo matching. Our first intuition is stereo matching can be modeled as a special case of optical flow, and we can leverage 3D geometry behind stereoscopic…