相关论文: Towards Scale-Aware Full Surround Monodepth with T…

Recent foundation models demonstrate strong generalization capabilities in monocular depth estimation. However, directly applying these models to Full Surround Monocular Depth Estimation (FSMDE) presents two major challenges: (1) high…

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…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Monocular depth estimation (MDE) in the self-supervised scenario has emerged as a promising method as it refrains from the requirement of ground truth depth. Despite continuous efforts, MDE is still sensitive to scale changes especially…

Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across…

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…

We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth…

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…

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…

Current few-shot learning models capture visual object relations in the so-called meta-learning setting under a fixed-resolution input. However, such models have a limited generalization ability under the scale and location mismatch between…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

This paper addresses the problem of scale estimation in monocular SLAM by estimating absolute distances between camera centers of consecutive image frames. These estimates would improve the overall performance of classical (not deep) SLAM…

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…

Single-view depth estimation suffers from the problem that a network trained on images from one camera does not generalize to images taken with a different camera model. Thus, changing the camera model requires collecting an entirely new…

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…

In recent years, the emergence of foundation models for depth prediction has led to remarkable progress, particularly in zero-shot monocular depth estimation. These models generate impressive depth predictions; however, their outputs are…

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…

This paper proposes a novel method of estimating the absolute scale of monocular SfM for a multi-modal stereo camera. In the fields of computer vision and robotics, scale estimation for monocular SfM has been widely investigated in order to…

Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without…