相关论文: Incremental Joint Learning of Depth, Pose and Impl…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF,…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

Real-world low-light images often suffer from complex degradations such as local overexposure, low brightness, noise, and uneven illumination. Supervised methods tend to overfit to specific scenarios, while unsupervised methods, though…

Unsupervised monocular depth estimation has received widespread attention because of its capability to train without ground truth. In real-world scenarios, the images may be blurry or noisy due to the influence of weather conditions and…

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…

Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…

Monocular depth estimation (MDE) aims to transform an RGB image of a scene into a pixelwise depth map from the same camera view. It is fundamentally ill-posed due to missing information: any single image can have been taken from many…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…

Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…

Self-supervised monocular depth estimation aims to infer depth information without relying on labeled data. However, the lack of labeled information poses a significant challenge to the model's representation, limiting its ability to…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Multi-frame depth estimation generally achieves high accuracy relying on the multi-view geometric consistency. When applied in dynamic scenes, e.g., autonomous driving, this consistency is usually violated in the dynamic areas, leading to…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Self-supervised monocular depth estimation has been widely studied, owing to its practical importance and recent promising improvements. However, most works suffer from limited supervision of photometric consistency, especially in weak…

Novel view synthesis from monocular videos of dynamic scenes with unknown camera poses remains a fundamental challenge in computer vision and graphics. While recent advances in 3D representations such as Neural Radiance Fields (NeRF) and 3D…