相关论文: UniDepth: Universal Monocular Metric Depth Estimat…

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…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…

As a flexible passive 3D sensing means, unsupervised learning of depth from monocular videos is becoming an important research topic. It utilizes the photometric errors between the target view and the synthesized views from its adjacent…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

Estimating depth from a single 2D image is a challenging task due to the lack of stereo or multi-view data, which are typically required for depth perception. In state-of-the-art architectures, the main challenge is to efficiently capture…

Recent monocular metric depth estimation (MMDE) methods have made notable progress towards zero-shot generalization. However, they still exhibit a significant performance drop on out-of-distribution datasets. We address this limitation by…

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…

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…

Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Monocular depth estimation, similar to other image-based tasks, is prone to erroneous predictions due to ambiguities in the image, for example, caused by dynamic objects or shadows. For this reason, pixel-wise uncertainty assessment is…

Monocular depth estimation is crucial for tracking and reconstruction algorithms, particularly in the context of surgical videos. However, the inherent challenges in directly obtaining ground truth depth maps during surgery render…

It is difficult to collect data on a large scale in a monocular depth estimation because the task requires the simultaneous acquisition of RGB images and depths. Data augmentation is thus important to this task. However, there has been…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

Depth estimation is a foundational component for 3D reconstruction in minimally invasive endoscopic surgeries. However, existing monocular depth estimation techniques often exhibit limited performance to the varying illumination and complex…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…