相关论文: Monocular absolute depth estimation from endoscopy…

Monocular depth estimation (MDE) has witnessed remarkable progress driven by Convolutional Neural Networks and transformer-based architectures. However, these approaches typically treat the problem as a generic image-to-image regression on…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

While monocular depth estimation (MDE) is an important problem in computer vision, it is difficult due to the ambiguity that results from the compression of a 3D scene into only 2 dimensions. It is common practice in the field to treat it…

Depth estimation is a foundational component for 3D reconstruction in minimally invasive endoscopic surgeries. However, existing monocular depth estimation techniques often exhibit limited performance to the varying illumination and complex…

Spatial scene understanding, including monocular depth estimation, is an important problem in various applications, such as robotics and autonomous driving. While improvements in unsupervised monocular depth estimation have potentially…

Estimating depth from a monocular image is an ill-posed problem: when the camera projects a 3D scene onto a 2D plane, depth information is inherently and permanently lost. Nevertheless, recent work has shown impressive results in estimating…

Monocular depth estimation (MDE) aims to infer per-pixel depth from a single RGB image. While diffusion models have advanced MDE with impressive generalization, they often exhibit limitations in accurately reconstructing far-range regions.…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

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…

Monocular metric depth estimation (MMDE) is a core challenge in computer vision, playing a pivotal role in real-world applications that demand accurate spatial understanding. Although prior works have shown promising zero-shot performance…

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods…

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…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…

Learning depth from a single image, as an important issue in scene understanding, has attracted a lot of attention in the past decade. The accuracy of the depth estimation has been improved from conditional Markov random fields,…

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…

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Existing methods for scale-invariant monocular depth estimation (SI MDE) often struggle due to the complexity of the task, and limited and non-diverse datasets, hindering generalizability in real-world scenarios. This is while…

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…