相关论文: WEDepth: Efficient Adaptation of World Knowledge f…

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…

Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…

Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…

Depth estimation provides an alternative approach for perceiving 3D information in autonomous driving. Monocular depth estimation, whether with single-frame or multi-frame inputs, has achieved significant success by learning various types…

The majority of modern single-view depth estimation methods predict relative depth and thus cannot be directly applied in many real-world scenarios, despite impressive performance in the benchmarks. Moreover, single-view approaches cannot…

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…

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…

Monocular depth estimation provides an additional depth dimension to RGB images, making it widely applicable in various fields such as virtual reality, autonomous driving and robotic navigation. However, existing depth estimation algorithms…

Transformer and its variants have shown state-of-the-art results in many vision tasks recently, ranging from image classification to dense prediction. Despite of their success, limited work has been reported on improving the model…

We present a method for depth estimation with monocular images, which can predict high-quality depth on diverse scenes up to an affine transformation, thus preserving accurate shapes of a scene. Previous methods that predict metric depth…

Self-supervised monocular depth estimation (MDE) has received increasing interests in the last few years. The objects in the scene, including the object size and relationship among different objects, are the main clues to extract the scene…

We present two versatile methods to generally enhance self-supervised monocular depth estimation (MDE) models. The high generalizability of our methods is achieved by solving the fundamental and ubiquitous problems in photometric loss…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…

Monocular depth estimation (MDE) in the self-supervised scenario has emerged as a promising method as it refrains from the requirement of ground truth depth. Despite continuous efforts, MDE is still sensitive to scale changes especially…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

We present a novel approach designed to address the complexities posed by challenging, out-of-distribution data in the single-image depth estimation task. Starting with images that facilitate depth prediction due to the absence of…

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…

We describe a non-parametric, "example-based" method for estimating the depth of an object, viewed in a single photo. Our method consults a database of example 3D geometries, searching for those which look similar to the object in the…

Deep networks for Monocular Depth Estimation (MDE) have achieved promising performance recently and it is of great importance to further understand the interpretability of these networks. Existing methods attempt to provide posthoc…

In recent years, monocular depth estimation is applied to understand the surrounding 3D environment and has made great progress. However, there is an ill-posed problem on how to gain depth information directly from a single image. With the…