相关论文: Joint Depth Prediction and Semantic Segmentation w…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Although deep neural networks have been widely applied to computer vision problems, extending them into multiview depth estimation is non-trivial. In this paper, we present MVDepthNet, a convolutional network to solve the depth estimation…

This paper presents a semi-supervised learning framework for a customized semantic segmentation task using multiview image streams. A key challenge of the customized task lies in the limited accessibility of the labeled data due to the…

There has been tremendous research progress in estimating the depth of a scene from a monocular camera image. Existing methods for single-image depth prediction are exclusively based on deep neural networks, and their training can be…

3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…

Robust geometric and semantic scene understanding is ever more important in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based approach capable of jointly…

Multi-view Stereo (MVS) aims to estimate depth and reconstruct 3D point clouds from a series of overlapping images. Recent learning-based MVS frameworks overlook the geometric information embedded in features and correlations, leading to…

The question of whether pre-training on geometric tasks is viable for downstream transfer to semantic tasks is important for two reasons, one practical and the other scientific. If the answer is positive, we may be able to reduce…

Deep learning-based multi-view stereo has emerged as a powerful paradigm for reconstructing the complete geometrically-detailed objects from multi-views. Most of the existing approaches only estimate the pixel-wise depth value by minimizing…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

In this study, we address the intricate challenge of multi-task dense prediction, encompassing tasks such as semantic segmentation, depth estimation, and surface normal estimation, particularly when dealing with partially annotated data…

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…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Learning-based multi-view stereo (MVS) has by far centered around 3D convolution on cost volumes. Due to the high computation and memory consumption of 3D CNN, the resolution of output depth is often considerably limited. Different from…

In this work we study the mutual benefits of two common computer vision tasks, self-supervised depth estimation and semantic segmentation from images. For example, to help unsupervised monocular depth estimation, constraints from semantic…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…