相关论文: SM4Depth: Seamless Monocular Metric Depth Estimati…

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…

In this paper, we tackle the problem of estimating the depth of a scene from a monocular video sequence. In particular, we handle challenging scenarios, such as non-translational camera motion and dynamic scenes, where traditional structure…

Monocular depth estimation (MDE) aims to infer per-pixel depth from a single RGB image. While diffusion models have advanced MDE with impressive generalization, they often exhibit limitations in accurately reconstructing far-range regions.…

This paper presents a novel self-supervised two-frame multi-camera metric depth estimation network, termed M${^2}$Depth, which is designed to predict reliable scale-aware surrounding depth in autonomous driving. Unlike the previous works…

Monocular Depth Estimation (MDE) is a fundamental problem in computer vision with numerous applications. Recently, LIDAR-supervised methods have achieved remarkable per-pixel depth accuracy in outdoor scenes. However, significant errors are…

The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an affine-invariant disparity map, the favored technique to…

Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…

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…

Deep metric learning aims to learn features relying on the consistency or divergence of class labels. However, in monocular depth estimation, the absence of a natural definition of class poses challenges in the leveraging of deep metric…

As an essential component for many autonomous driving and robotic activities such as ego-motion estimation, obstacle avoidance and scene understanding, monocular depth estimation (MDE) has attracted great attention from the computer vision…

Existing monocular depth estimation methods have achieved excellent robustness in diverse scenes, but they can only retrieve affine-invariant depth, up to an unknown scale and shift. However, in some video-based scenarios such as video…

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…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

Monocular Depth Estimation (MDE) is a fundamental 3D vision problem with numerous applications such as 3D scene reconstruction, autonomous navigation, and AI content creation. However, robust and generalizable MDE remains challenging due to…

We propose SharpDepth, a novel approach to monocular metric depth estimation that combines the metric accuracy of discriminative depth estimation methods (e.g., Metric3D, UniDepth) with the fine-grained boundary sharpness typically achieved…

Monocular depth estimation (MDE) in the self-supervised scenario has emerged as a promising method as it refrains from the requirement of ground truth depth. Despite continuous efforts, MDE is still sensitive to scale changes especially…

This work presents Depth Anything, a highly practical solution for robust monocular depth estimation. Without pursuing novel technical modules, we aim to build a simple yet powerful foundation model dealing with any images under any…

Most existing methods often rely on complex models to predict scene depth with high accuracy, resulting in slow inference that is not conducive to deployment. To better balance precision and speed, we first designed SmallDepth based on…

Monocular depth estimation is an essential task in the computer vision community. While tremendous successful methods have obtained excellent results, most of them are computationally expensive and not applicable for real-time on-device…