相关论文: NDDepth: Normal-Distance Assisted Monocular Depth …

We propose DFPNet -- an unsupervised, joint learning system for monocular Depth, Optical Flow and egomotion (Camera Pose) estimation from monocular image sequences. Due to the nature of 3D scene geometry these three components are coupled.…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across…

Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…

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…

In this paper, we introduce DCDepth, a novel framework for the long-standing monocular depth estimation task. Moving beyond conventional pixel-wise depth estimation in the spatial domain, our approach estimates the frequency coefficients of…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

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…

Monocular depth estimation plays a fundamental role in computer vision. Due to the costly acquisition of depth ground truth, self-supervised methods that leverage adjacent frames to establish a supervisory signal have emerged as the most…

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…

Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…

Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance…

Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

This paper studies unsupervised monocular depth prediction problem. Most of existing unsupervised depth prediction algorithms are developed for outdoor scenarios, while the depth prediction work in the indoor environment is still very…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…