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

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

Recent progress in 3D object detection from single images leverages monocular depth estimation as a way to produce 3D pointclouds, turning cameras into pseudo-lidar sensors. These two-stage detectors improve with the accuracy of the…

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…

The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

In the context of scene understanding, a variety of methods exists to estimate different information channels from mono or stereo images, including disparity, depth, and normals. Although several advances have been reported in the recent…

The ability to accurately estimate depth information is crucial for many autonomous applications to recognize the surrounded environment and predict the depth of important objects. One of the most recently used techniques is monocular depth…

This paper considers the problem of single image depth estimation. The employment of convolutional neural networks (CNNs) has recently brought about significant advancements in the research of this problem. However, most existing methods…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

We propose SUB-Depth, a universal multi-task training framework for self-supervised monocular depth estimation (SDE). Depth models trained with SUB-Depth outperform the same models trained in a standard single-task SDE framework. By…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Monocular 3D object detection offers a low-cost alternative to LiDAR, yet remains less accurate due to the difficulty of estimating metric depth from a single image. We systematically evaluate how depth backbones and feature engineering…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

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…

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the…

Depth estimation from a single image is a challenging problem in computer vision because binocular disparity or motion information is absent. Whereas impressive performances have been reported in this area recently using end-to-end trained…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Deep neural networks have recently thrived on single image depth estimation. That being said, current developments on this topic highlight an apparent compromise between accuracy and network size. This work proposes an accurate and…