相关论文: DO3D: Self-supervised Learning of Decomposed Objec…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Monocular 3D object detection is an important yet challenging task in autonomous driving. Some existing methods leverage depth information from an off-the-shelf depth estimator to assist 3D detection, but suffer from the additional…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Self-supervised monocular depth estimation methods typically rely on the reprojection error to capture geometric relationships between successive frames in static environments. However, this assumption does not hold in dynamic objects in…

Reliable perception of the environment plays a crucial role in enabling efficient self-driving vehicles. Therefore, the perception system necessitates the acquisition of comprehensive 3D data regarding the surrounding objects within a…

Egocentric video-language pretraining has significantly advanced video representation learning. Humans perceive and interact with a fully 3D world, developing spatial awareness that extends beyond text-based understanding. However, most…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

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…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…

Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth…

We propose MAMo, a novel memory and attention frame-work for monocular video depth estimation. MAMo can augment and improve any single-image depth estimation networks into video depth estimation models, enabling them to take advantage of…

Monocular 3D object detection has long been a challenging task in autonomous driving. Most existing methods follow conventional 2D detectors to first localize object centers, and then predict 3D attributes by neighboring features. However,…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

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…