相关论文: AVS-Net: Audio-Visual Scale Net for Self-supervise…

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…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

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…

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…

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…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

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…

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 estimators can be trained with various forms of self-supervision from binocular-stereo data to circumvent the need for high-quality laser scans or other ground-truth data. The disadvantage, however, is that the photometric…

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…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

Supervised learning based methods for monocular depth estimation usually require large amounts of extensively annotated training data. In the case of aerial imagery, this ground truth is particularly difficult to acquire. Therefore, in this…

Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

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…

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…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

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…