相关论文: Transferring Relative Monocular Depth to Surgical …

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…

Majority of state-of-the-art monocular depth estimation methods are supervised learning approaches. The success of such approaches heavily depends on the high-quality depth labels which are expensive to obtain. Some recent methods try to…

Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires sequential data from…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

Single-view depth estimation can be remarkably effective if there is enough ground-truth depth data for supervised training. However, there are scenarios, especially in medicine in the case of endoscopies, where such data cannot be…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

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…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

There has been tremendous research progress in estimating the depth of a scene from a monocular camera image. Existing methods for single-image depth prediction are exclusively based on deep neural networks, and their training can be…

This work delves into unsupervised monocular depth estimation in endoscopy, which leverages adjacent frames to establish a supervisory signal during the training phase. For many clinical applications, e.g., surgical navigation, temporally…

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…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

In monocular depth estimation, unsupervised domain adaptation has recently been explored to relax the dependence on large annotated image-based depth datasets. However, this comes at the cost of training multiple models or requiring complex…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…