相关论文: Camera Height Doesn't Change: Unsupervised Trainin…

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…

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…

A new unsupervised learning method of depth and ego-motion using multiple masks from monocular video is proposed in this paper. The depth estimation network and the ego-motion estimation network are trained according to the constraints of…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…

Multi-frame depth estimation generally achieves high accuracy relying on the multi-view geometric consistency. When applied in dynamic scenes, e.g., autonomous driving, this consistency is usually violated in the dynamic areas, leading to…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

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…

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

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…

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…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

Fisheye cameras are commonly used in applications like autonomous driving and surveillance to provide a large field of view ($>180^{\circ}$). However, they come at the cost of strong non-linear distortions which require more complex…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

We present a novel method to train machine learning algorithms to estimate scene depths from a single image, by using the information provided by a camera's aperture as supervision. Prior works use a depth sensor's outputs or images of the…

Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…