相关论文: Depth Anywhere: Enhancing 360 Monocular Depth Esti…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Although significant progress has been made in room layout estimation, most methods aim to reduce the loss in the 2D pixel coordinate rather than exploiting the room structure in the 3D space. Towards reconstructing the room layout in 3D,…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

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…

Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…

The success of monocular depth estimation relies on large and diverse training sets. Due to the challenges associated with acquiring dense ground-truth depth across different environments at scale, a number of datasets with distinct…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

Over the past few years, self-supervised monocular depth estimation that does not depend on ground-truth during the training phase has received widespread attention. Most efforts focus on designing different types of network architectures…

Monocular depth estimation is a challenging task in complex compositions depicting multiple objects of diverse scales. Albeit the recent great progress thanks to the deep convolutional neural networks (CNNs), the state-of-the-art monocular…

Pre-trained Vision-Language Models (VLMs), such as CLIP, have shown enhanced performance across a range of tasks that involve the integration of visual and linguistic modalities. When CLIP is used for depth estimation tasks, the patches,…

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…

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to…

Estimating depth from a single image is a challenging visual task. Compared to relative depth estimation, metric depth estimation attracts more attention due to its practical physical significance and critical applications in real-life…

Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…

Depth estimation is an important task, applied in various methods and applications of computer vision. While the traditional methods of estimating depth are based on depth cues and require specific equipment such as stereo cameras and…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

We tackle the problem of monocular 3D object detection across different sensors, environments, and camera setups. In this paper, we introduce a novel unsupervised domain adaptation approach, MonoCT, that generates highly accurate pseudo…