相关论文: Multi-modal On-Device Learning for Monocular Depth…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and…

Unsupervised deep learning methods have shown promising performance for single-image depth estimation. Since most of these methods use binocular stereo pairs for self-supervision, the depth range is generally limited. Small-baseline stereo…

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 is challenging due to the lack of accurate depth. However, existing depth-assisted solutions still exhibit inferior performance, whose reason is universally acknowledged as the unsatisfactory accuracy of…

Monocular depth estimation (MDE) typically produces depth estimations that are defined up to an unknown scale or shift. When only sparse metric anchors are available, recovering accurate metric depth becomes challenging yet necessary for…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

Depth completion involves predicting dense depth maps from sparse LiDAR inputs. However, sparse depth annotations from sensors limit the availability of dense supervision, which is necessary for learning detailed geometric features. In this…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

Monocular depth foundation models generalize well across scenes, yet they are typically optimized with uniform pixel-wise objectives that do not distinguish user-specified or task-relevant target regions from the surrounding context. We…

Accurate and efficient dense metric depth estimation is crucial for 3D visual perception in robotics and XR. In this paper, we develop a monocular visual-inertial motion and depth (VIMD) learning framework to estimate dense metric depth by…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…

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…

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation…

Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To address this, dense Monocular Depth Estimation (MDE) has been…

An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous ``events''. It has advantages over conventional cameras in those scenes with high-speed motions and challenging…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…