相关论文: GenDepth: Generalizing Monocular Depth Estimation …

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

We present a novel approach for unsupervised learning of depth and ego-motion from monocular video. Unsupervised learning removes the need for separate supervisory signals (depth or ego-motion ground truth, or multi-view video). Prior work…

We formulate monocular depth estimation using denoising diffusion models, inspired by their recent successes in high fidelity image generation. To that end, we introduce innovations to address problems arising due to noisy, incomplete depth…

Accurate monocular depth estimation is a fundamental component of vision-based perception systems in intelligent transportation applications. Despite recent progress, unsupervised monocular approaches still suffer from significant…

Monocular depth estimation is vital for scene understanding and downstream tasks. We focus on the supervised setup, in which ground-truth depth is available only at training time. Based on knowledge about the high regularity of real 3D…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…

Three-dimensional (3D) reconstruction from a single image is an ill-posed problem with inherent ambiguities, i.e. scale. Predicting a 3D scene from text description(s) is similarly ill-posed, i.e. spatial arrangements of objects described.…

Unsupervised monocular depth estimation has received widespread attention because of its capability to train without ground truth. In real-world scenarios, the images may be blurry or noisy due to the influence of weather conditions and…

Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…

Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and…

Video depth estimation lifts monocular video clips to 3D by inferring dense depth at every frame. Recent advances in single-image depth estimation, brought about by the rise of large foundation models and the use of synthetic training data,…

Deep neural networks have lead to a breakthrough in depth estimation from single images. Recent work often focuses on the accuracy of the depth map, where an evaluation on a publicly available test set such as the KITTI vision benchmark is…

The perception of vehicles and pedestrians in urban scenarios is crucial for autonomous driving. This process typically involves complicated data collection, imposes high computational and hardware demands. To address these limitations, we…