相关论文: UM-Depth : Uncertainty Masked Self-Supervised Mono…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and…

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,…

Single view depth estimation models can be trained from video footage using a self-supervised end-to-end approach with view synthesis as the supervisory signal. This is achieved with a framework that predicts depth and camera motion, with a…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

Self-supervised monocular depth estimation has emerged as a promising approach since it does not rely on labeled training data. Most methods combine convolution and Transformer to model long-distance dependencies to estimate depth…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

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 work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

In the field of monocular depth estimation (MDE), many models with excellent zero-shot performance in general scenes emerge recently. However, these methods often fail in predicting non-Lambertian surfaces, such as transparent or mirror…

Monocular metric depth estimation (MMDE) is a crucial task to solve for indoor scene reconstruction on edge devices. Despite this importance, existing models are sensitive to factors such as boundary frequency of objects in the scene and…

There has been tremendous research progress in estimating the depth of a scene from a monocular camera image. Existing methods for single-image depth prediction are exclusively based on deep neural networks, and their training can be…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

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…

Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and…

Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

Photometric consistency loss is one of the representative objective functions commonly used for self-supervised monocular depth estimation. However, this loss often causes unstable depth predictions in textureless or occluded regions due to…

Most existing methods often rely on complex models to predict scene depth with high accuracy, resulting in slow inference that is not conducive to deployment. To better balance precision and speed, we first designed SmallDepth based on…

Self-supervised monocular depth estimation has been widely studied, owing to its practical importance and recent promising improvements. However, most works suffer from limited supervision of photometric consistency, especially in weak…