相关论文: Towards Sharper Object Boundaries in Self-Supervis…

Self-supervised monocular depth estimation methods aim to be used in critical applications such as autonomous vehicles for environment analysis. To circumvent the potential imperfections of these approaches, a quantification of the…

Depth estimation is an important step in many computer vision problems such as 3D reconstruction, novel view synthesis, and computational photography. Most existing work focuses on depth estimation from single frames. When applied to…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon…

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…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in evaluation metrics such as the pixel-wise relative error, most methods neglect the geometric…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…

Obtaining accurate depth measurements out of a single image represents a fascinating solution to 3D sensing. CNNs led to considerable improvements in this field, and recent trends replaced the need for ground-truth labels with…

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…

Self-supervised monocular depth estimation holds significant importance in the fields of autonomous driving and robotics. However, existing methods are typically trained and tested on standard datasets, overlooking the impact of various…

A single color image can contain many cues informative towards different aspects of local geometric structure. We approach the problem of monocular depth estimation by using a neural network to produce a mid-level representation that…

Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…

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…

Monocular depth estimation has greatly improved in the recent years but models predicting metric depth still struggle to generalize across diverse camera poses and datasets. While recent supervised methods mitigate this issue by leveraging…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…

Monocular depth estimation from a single image is an ill-posed problem for computer vision due to insufficient reliable cues as the prior knowledge. Besides the inter-frame supervision, namely stereo and adjacent frames, extensive prior…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…