相关论文: BoRe-Depth: Self-supervised Monocular Depth Estima…

The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an affine-invariant disparity map, the favored technique to…

Monocular depth estimation is a fundamental task in computer vision and has drawn increasing attention. Recently, some methods reformulate it as a classification-regression task to boost the model performance, where continuous depth is…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

As an essential component for many autonomous driving and robotic activities such as ego-motion estimation, obstacle avoidance and scene understanding, monocular depth estimation (MDE) has attracted great attention from the computer vision…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

Single image depth estimation is a challenging problem. The current state-of-the-art method formulates the problem as that of ordinal regression. However, the formulation is not fully differentiable and depth maps are not generated in an…

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,…

Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast,…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Depth estimation features are helpful for 3D recognition. Commodity-grade depth cameras are able to capture depth and color image in real-time. However, glossy, transparent or distant surface cannot be scanned properly by the sensor. As a…

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is…