相关论文: FoVA-Depth: Field-of-View Agnostic Depth Estimatio…

Computational stereo has reached a high level of accuracy, but degrades in the presence of occlusions, repeated textures, and correspondence errors along edges. We present a novel approach based on neural networks for depth estimation that…

Dense depth and pose estimation is a vital prerequisite for various video applications. Traditional solutions suffer from the robustness of sparse feature tracking and insufficient camera baselines in videos. Therefore, recent methods…

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…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

Omnidirectional image (ODI) data is captured with a 360x180 field-of-view, which is much wider than the pinhole cameras and contains richer spatial information than the conventional planar images. Accordingly, omnidirectional vision has…

A common dilemma while photographing a scene is whether to capture it at a wider angle, allowing more of the scene to be covered but in less detail or to click in a narrow angle that captures better details but leaves out portions of the…

Depth estimation from single monocular images is a key component of scene understanding and has benefited largely from deep convolutional neural networks (CNN) recently. In this article, we take advantage of the recent deep residual…

Tremendous progress has been made in deep stereo matching to excel on benchmark datasets through per-domain fine-tuning. However, achieving strong zero-shot generalization - a hallmark of foundation models in other computer vision tasks -…

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented…

Learning-based methods to solve dense 3D vision problems typically train on 3D sensor data. The respectively used principle of measuring distances provides advantages and drawbacks. These are typically not compared nor discussed in the…

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…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

In this paper, we propose a novel video depth estimation approach, FutureDepth, which enables the model to implicitly leverage multi-frame and motion cues to improve depth estimation by making it learn to predict the future at training.…

Multi-view geometry-based methods dominate the last few decades in monocular Visual Odometry for their superior performance, while they have been vulnerable to dynamic and low-texture scenes. More importantly, monocular methods suffer from…

Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation…

Accurate depth estimation from images is a fundamental task in many applications including scene understanding and reconstruction. Existing solutions for depth estimation often produce blurry approximations of low resolution. This paper…

Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…

Transformer-based general visual geometry frameworks have shown promising performance in camera pose estimation and 3D scene understanding. Recent advancements in Visual Geometry Grounded Transformer (VGGT) models have shown great promise…

Attacks on sensing and perception threaten the safe deployment of autonomous vehicles (AVs). Security-aware sensor fusion helps mitigate threats but requires accurate field of view (FOV) estimation which has not been evaluated autonomy. To…

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…