相关论文: Self-supervised Pretraining and Finetuning for Mon…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

Monocular depth estimation has become one of the most studied applications in computer vision, where the most accurate approaches are based on fully supervised learning models. However, the acquisition of accurate and large ground truth…

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community. Unsupervised strategies to learning are particularly appealing as they can utilize much larger and varied…

Previous methods on estimating detailed human depth often require supervised training with `ground truth' depth data. This paper presents a self-supervised method that can be trained on YouTube videos without known depth, which makes…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

Self-supervised monocular depth estimation has emerged as a promising approach since it does not rely on labeled training data. Most methods combine convolution and Transformer to model long-distance dependencies to estimate depth…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

Despite impressive performance for high-level downstream tasks, self-supervised pre-training methods have not yet fully delivered on dense geometric vision tasks such as stereo matching or optical flow. The application of self-supervised…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…