相关论文: Region-aware Depth Scale Adaptation with Sparse Me…

Relying on deep supervised or self-supervised learning, previous methods for depth completion from paired single image and sparse depth data have achieved impressive performance in recent years. However, facing a new environment where the…

Recent advancements in machine learning (ML), natural language processing (NLP), and foundational models have shown promise for real-life applications in critical, albeit compute-constrainted fields like healthcare. In such areas, combining…

Depth completion aims to predict a dense depth map from a sparse depth input. The acquisition of dense ground truth annotations for depth completion settings can be difficult and, at the same time, a significant domain gap between real…

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,…

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…

We integrate sparse radar data into a monocular depth estimation model and introduce a novel preprocessing method for reducing the sparseness and limited field of view provided by radar. We explore the intrinsic error of different radar…

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,…

Model generalizability to unseen datasets, concerned with in-the-wild robustness, is less studied for indoor single-image depth prediction. We leverage gradient-based meta-learning for higher generalizability on zero-shot cross-dataset…

While recent depth foundation models exhibit strong zero-shot generalization, achieving accurate metric depth across diverse camera types-particularly those with large fields of view (FoV) such as fisheye and 360-degree cameras-remains a…

Estimating 3D geometry from monocular colonoscopy images is challenging due to non-Lambertian surfaces, moving light sources, and large textureless regions. While recent 3D geometric foundation models eliminate the need for multi-stage…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

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…

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…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

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…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

Deep neural networks have emerged as powerful tools for learning operators defined over infinite-dimensional function spaces. However, existing theories frequently encounter difficulties related to dimensionality and limited…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

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,…