相关论文: GasMono: Geometry-Aided Self-Supervised Monocular …

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

Monocular depth estimation has greatly improved in the recent years but models predicting metric depth still struggle to generalize across diverse camera poses and datasets. While recent supervised methods mitigate this issue by leveraging…

A thermal camera can robustly capture thermal radiation images under harsh light conditions such as night scenes, tunnels, and disaster scenarios. However, despite this advantage, neither depth nor ego-motion estimation research for the…

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast,…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

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…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Inferring geometrically consistent dense 3D scenes across a tuple of temporally consecutive images remains challenging for self-supervised monocular depth prediction pipelines. This paper explores how the increasingly popular transformer…

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…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Supervised learning based methods for monocular depth estimation usually require large amounts of extensively annotated training data. In the case of aerial imagery, this ground truth is particularly difficult to acquire. Therefore, in this…

Self-supervised monocular depth estimation has been widely studied recently. Most of the work has focused on improving performance on benchmark datasets, such as KITTI, but has offered a few experiments on generalization performance. In…

Single-View depth estimation using the CNNs trained from unlabelled videos has shown significant promise. However, excellent results have mostly been obtained in street-scene driving scenarios, and such methods often fail in other settings,…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing…