相关论文: MonoProb: Self-Supervised Monocular Depth Estimati…

An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous ``events''. It has advantages over conventional cameras in those scenes with high-speed motions and challenging…

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…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

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…

Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

We introduce NimbleD, an efficient self-supervised monocular depth estimation learning framework that incorporates supervision from pseudo-labels generated by a large vision model. This framework does not require camera intrinsics, enabling…

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…

In this paper, we tackle the problem of estimating the depth of a scene from a monocular video sequence. In particular, we handle challenging scenarios, such as non-translational camera motion and dynamic scenes, where traditional structure…

With the development of computational intelligence algorithms, unsupervised monocular depth and pose estimation framework, which is driven by warped photometric consistency, has shown great performance in the daytime scenario. While in some…

In self-supervised monocular depth estimation, the depth discontinuity and motion objects' artifacts are still challenging problems. Existing self-supervised methods usually utilize a single view to train the depth estimation network.…

Learning-based depth estimation has witnessed recent progress in multiple directions; from self-supervision using monocular video to supervised methods offering highest accuracy. Complementary to supervision, further boosts to performance…

Depth information is crucial for autonomous driving and intelligent robot navigation. The simplicity and flexibility of self-supervised monocular depth estimation are conducive to its role in these fields. However, most existing monocular…

Multi-view stereo depth estimation based on cost volume usually works better than self-supervised monocular depth estimation except for moving objects and low-textured surfaces. So in this paper, we propose a multi-frame depth estimation…

Depth estimation plays an important role in the robotic perception system. Self-supervised monocular paradigm has gained significant attention since it can free training from the reliance on depth annotations. Despite recent advancements,…

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…

Self-supervised monocular depth estimation methods have been increasingly given much attention due to the benefit of not requiring large, labelled datasets. Such self-supervised methods require high-quality salient features and consequently…

Due to difficulties in acquiring ground truth depth of equirectangular (360) images, the quality and quantity of equirectangular depth data today is insufficient to represent the various scenes in the world. Therefore, 360 depth estimation…

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…