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

Monocular depth estimation is an especially important task in robotics and autonomous driving, where 3D structural information is essential. However, extreme lighting conditions and complex surface objects make it difficult to predict depth…

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…

While deep neural networks have become the go-to approach in computer vision, the vast majority of these models fail to properly capture the uncertainty inherent in their predictions. Estimating this predictive uncertainty can be crucial,…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Monocular Depth Estimation (MDE) is performed to produce 3D information that can be used in downstream tasks such as those related to on-board perception for Autonomous Vehicles (AVs) or driver assistance. Therefore, a relevant arising…

Photometric constraint is indispensable for self-supervised monocular depth estimation. It involves warping a source image onto a target view using estimated depth&pose, and then minimizing the difference between the warped and target…

Confidence estimation, a task that aims to evaluate the trustworthiness of the model's prediction output during deployment, has received lots of research attention recently, due to its importance for the safe deployment of deep models.…

Single image depth estimation is a challenging problem. The current state-of-the-art method formulates the problem as that of ordinal regression. However, the formulation is not fully differentiable and depth maps are not generated in an…

The escalating threat of adversarial attacks on deep learning models, particularly in security-critical fields, has underscored the need for robust deep learning systems. Conventional robustness evaluations have relied on adversarial…

Monocular depth foundation models generalize well across scenes, yet they are typically optimized with uniform pixel-wise objectives that do not distinguish user-specified or task-relevant target regions from the surrounding context. We…

The robustness of deep neural networks is usually lacking under adversarial examples, common corruptions, and distribution shifts, which becomes an important research problem in the development of deep learning. Although new deep learning…

Depth estimation is one of the key technologies for realizing 3D perception in unmanned systems. Monocular depth estimation has been widely researched because of its low-cost advantage, but the existing methods face the challenges of poor…

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…

Accurate depth estimation under out-of-distribution (OoD) scenarios, such as adverse weather conditions, sensor failure, and noise contamination, is desirable for safety-critical applications. Existing depth estimation systems, however,…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

Computer vision leveraging deep learning has achieved significant success in the last decade. Despite the promising performance of the existing deep models in the recent literature, the extent of models' reliability remains unknown.…

Accurate Monocular Depth Estimation (MDE) is critical for autonomous robotic surgery. However, existing self-supervised methods often exhibit a severe "ex-vivo to in-vivo gap": they achieve high accuracy on public datasets but struggle in…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Generalizable dense feature matching in endoscopic images is crucial for robot-assisted tasks, including 3D reconstruction, navigation, and surgical scene understanding. Yet, it remains a challenge due to difficult visual conditions (e.g.,…

Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…