相关论文: Zero-shot Monocular Metric Depth for Endoscopic Im…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

Aerial scene understanding systems face stringent payload restrictions and must often rely on monocular depth estimation for modeling scene geometry, which is an inherently ill-posed problem. Moreover, obtaining accurate ground truth data…

Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…

Depth from Defocus (DfD) is the task of estimating a dense metric depth map from a focus stack. Unlike previous works overfitting to a certain dataset, this paper focuses on the challenging and practical setting of zero-shot generalization.…

360{\deg} cameras can capture complete environments in a single shot, which makes 360{\deg} imagery alluring in many computer vision tasks. However, monocular depth estimation remains a challenge for 360{\deg} data, particularly for high…

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…

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…

This paper addresses the problem of scale estimation in monocular SLAM by estimating absolute distances between camera centers of consecutive image frames. These estimates would improve the overall performance of classical (not deep) SLAM…

Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…

Reliable depth estimation under real optical conditions remains a core challenge for camera vision in systems such as autonomous robotics and augmented reality. Despite recent progress in depth estimation and depth-of-field rendering,…

As processing power has become more available, more human-like artificial intelligences are created to solve image processing tasks that we are inherently good at. As such we propose a model that estimates depth from a monocular image. Our…

Accurate depth and camera pose estimation is essential for achieving high-quality 3D visualisations in robotic-assisted surgery. Despite recent advancements in foundation model adaptation to monocular depth estimation of endoscopic scenes…

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a…

Over the past decade, generative models have achieved significant success in enhancement fundus images.However, the evaluation of these models still presents a considerable challenge. A comprehensive evaluation benchmark for fundus image…

The generalization and performance of stereo matching networks are limited due to the domain gap of the existing synthetic datasets and the sparseness of GT labels in the real datasets. In contrast, monocular depth estimation has achieved…

We present a generalised self-supervised learning approach for monocular estimation of the real depth across scenes with diverse depth ranges from 1--100s of meters. Existing supervised methods for monocular depth estimation require…

Depth estimation is a core task in 3D computer vision. Recent methods investigate the task of monocular depth trained with various depth sensor modalities. Every sensor has its advantages and drawbacks caused by the nature of estimates. In…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…