相关论文: MapAnything: Evaluating Monocular Metric Depth Mod…

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation…

Reconstructing accurate 3D scenes from images is a long-standing vision task. Due to the ill-posedness of the single-image reconstruction problem, most well-established methods are built upon multi-view geometry. State-of-the-art (SOTA)…

Prior to modern Earth observation technologies, historical maps provide a unique record of long-term urban transformation and offer a lens on the evolving identity of cities. However, extracting consistent and fine-grained change…

For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…

Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Monocular depth estimation is an ill-posed problem as the same 2D image can be projected from infinite 3D scenes. Although the leading algorithms in this field have reported significant improvement, they are essentially geared to the…

Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

The automated creation of digital twins and precise asset inventories is a critical task in smart city construction and facility lifecycle management. However, utilizing cost-effective sparse imagery remains challenging due to limited…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

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…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

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…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Monocular cameras are attractive for robotic perception due to their low cost and ease of deployment, yet achieving reliable real-time spatial understanding from a single image stream remains challenging. While recent multi-task dense…