相关论文: M${^2}$Depth: Self-supervised Two-Frame Multi-came…

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…

Multi-task approaches to joint depth and segmentation prediction are well-studied for monocular images. Yet, predictions from a single-view are inherently limited, while multiple views are available in many robotics applications. On the…

This research paper presents an innovative multi-task learning framework that allows concurrent depth estimation and semantic segmentation using a single camera. The proposed approach is based on a shared encoder-decoder architecture, which…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

In the field of self-supervised depth estimation, Convolutional Neural Networks (CNNs) and Transformers have traditionally been dominant. However, both architectures struggle with efficiently handling long-range dependencies due to their…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

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…

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…

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…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Self-supervised monocular depth estimation holds significant importance in the fields of autonomous driving and robotics. However, existing methods are typically trained and tested on standard datasets, overlooking the impact of various…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

Omnidirectional 3D information is essential for a wide range of applications such as Virtual Reality, Autonomous Driving, Robotics, etc. In this paper, we propose a novel, model-agnostic, two-stage pipeline for omnidirectional monocular…

This paper tackles the unsupervised depth estimation task in indoor environments. The task is extremely challenging because of the vast areas of non-texture regions in these scenes. These areas could overwhelm the optimization process in…

A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

This paper performs the first investigation into depth for large-scale human action recognition in video where the depth cues are estimated from the videos themselves. We develop a new framework called depth2action and experiment thoroughly…