相关论文: EndoDepth: A Benchmark for Assessing Robustness in…

Estimating depth from a single 2D image is a challenging task due to the lack of stereo or multi-view data, which are typically required for depth perception. In state-of-the-art architectures, the main challenge is to efficiently capture…

Depth estimation is a core task in 3D computer vision. Recent methods investigate the task of monocular depth trained with various depth sensor modalities. Every sensor has its advantages and drawbacks caused by the nature of estimates. In…

Indoor monocular depth estimation has attracted increasing research interest. Most previous works have been focusing on methodology, primarily experimenting with NYU-Depth-V2 (NYUv2) Dataset, and only concentrated on the overall performance…

As deep learning applications are becoming more and more pervasive in robotics, the question of evaluating the reliability of inferences becomes a central question in the robotics community. This domain, known as predictive uncertainty, has…

Adaptation methods are developed to adapt depth foundation models to endoscopic depth estimation recently. However, such approaches typically under-perform training since they limit the parameter search to a low-rank subspace and alter the…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

This work delves into unsupervised monocular depth estimation in endoscopy, which leverages adjacent frames to establish a supervisory signal during the training phase. For many clinical applications, e.g., surgical navigation, temporally…

Monocular depth estimation from RGB images plays a pivotal role in 3D vision. However, its accuracy can deteriorate in challenging environments such as nighttime or adverse weather conditions. While long-wave infrared cameras offer stable…

Large-scale pre-trained vision models are becoming increasingly prevalent, offering expressive and generalizable visual representations that benefit various downstream tasks. Recent studies on the emergent properties of these models have…

Occlusion, where target structures are partially hidden by surgical instruments or overlapping tissues, remains a critical yet underexplored challenge for foundation segmentation models in clinical endoscopy. We introduce OccSAM-Bench, a…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achieving scale-consistent reconstruction remains an open…

Reliable and robust evaluation methods are a necessary first step towards developing machine learning models that are themselves robust and reliable. Unfortunately, current evaluation protocols typically used to assess classifiers fail to…

As an essential component for many autonomous driving and robotic activities such as ego-motion estimation, obstacle avoidance and scene understanding, monocular depth estimation (MDE) has attracted great attention from the computer vision…

Monocular depth estimation (MDE) is a challenging task in computer vision, often hindered by the cost and scarcity of high-quality labeled datasets. We tackle this challenge using auxiliary datasets from related vision tasks for an…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

Accurate depth estimation with lowest compute and energy cost is a crucial requirement for unmanned and battery operated autonomous systems. Robotic applications require real time depth estimation for navigation and decision making under…

The estimation of depth in two-dimensional images has long been a challenging and extensively studied subject in computer vision. Recently, significant progress has been made with the emergence of Deep Learning-based approaches, which have…

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…