相关论文: SwinMTL: A Shared Architecture for Simultaneous De…

Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many…

Traditional deep learning methods in medical imaging often focus solely on segmentation or classification, limiting their ability to leverage shared information. Multi-task learning (MTL) addresses this by combining both tasks through…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

While current approaches for neural network training often aim at improving performance, less focus is put on training methods aiming at robustness towards varying noise conditions or directed attacks by adversarial examples. In this paper,…

Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…

Current self-supervised monocular depth estimation (MDE) approaches encounter performance limitations due to insufficient semantic-spatial knowledge extraction. To address this challenge, we propose Hybrid-depth, a novel framework that…

We propose SUB-Depth, a universal multi-task training framework for self-supervised monocular depth estimation (SDE). Depth models trained with SUB-Depth outperform the same models trained in a standard single-task SDE framework. By…

In many robotic applications, especially for the autonomous driving, understanding the semantic information and the geometric structure of surroundings are both essential. Semantic 3D maps, as a carrier of the environmental knowledge, are…

In this work we study the mutual benefits of two common computer vision tasks, self-supervised depth estimation and semantic segmentation from images. For example, to help unsupervised monocular depth estimation, constraints from semantic…

State-of-the-art self-supervised learning approaches for monocular depth estimation usually suffer from scale ambiguity. They do not generalize well when applied on distance estimation for complex projection models such as in fisheye and…

Deploying real-time spatial perception on edge devices requires efficient multi-task models that leverage complementary task information while minimizing computational overhead. This paper introduces Multi-Mono-Hydra (M2H), a novel…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…

Existing weakly supervised semantic segmentation (WSSS) methods usually utilize the results of pre-trained saliency detection (SD) models without explicitly modeling the connections between the two tasks, which is not the most efficient…

Self-supervised vision-language pretraining from pure images and text with a contrastive loss is effective, but ignores fine-grained alignment due to a dual-stream architecture that aligns image and text representations only on a global…

Self-supervised monocular depth estimation (SSMDE) aims to predict the dense depth map of a monocular image, by learning depth from RGB image sequences, eliminating the need for ground-truth depth labels. Although this approach simplifies…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

Self-supervised learning for depth estimation uses geometry in image sequences for supervision and shows promising results. Like many computer vision tasks, depth network performance is determined by the capability to learn accurate spatial…

In this paper, we propose a novel method, X-Distill, to improve the self-supervised training of monocular depth via cross-task knowledge distillation from semantic segmentation to depth estimation. More specifically, during training, we…

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…