相关论文: Boosting Monocular Metric Depth Estimation via Bok…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

It is difficult to collect data on a large scale in a monocular depth estimation because the task requires the simultaneous acquisition of RGB images and depths. Data augmentation is thus important to this task. However, there has been…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Unsupervised depth completion and estimation methods are trained by minimizing reconstruction error. Block artifacts from resampling, intensity saturation, and occlusions are amongst the many undesirable by-products of common data…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

In the current monocular depth research, the dominant approach is to employ unsupervised training on large datasets, driven by warped photometric consistency. Such approaches lack robustness and are unable to generalize to challenging…

Self-supervised monocular depth estimation methods typically rely on the reprojection error to capture geometric relationships between successive frames in static environments. However, this assumption does not hold in dynamic objects in…

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…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

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…

Existing depth estimation methods are fundamentally limited to predicting depth on discrete image grids. Such representations restrict their scalability to arbitrary output resolutions and hinder the geometric detail recovery. This paper…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…

Monocular video human mesh recovery faces fundamental challenges in maintaining metric consistency and temporal stability due to inherent depth ambiguities and scale uncertainties. While existing methods rely primarily on RGB features and…

Monocular metric depth estimation has achieved strong progress with large-scale training and universal-camera modeling, yet robust deployment across diverse camera settings, such as perspective, fisheye, and panoramic images, remains…

We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…

Accurate depth estimation in endoscopy is vital for successfully implementing computer vision pipelines for various medical procedures and CAD tools. In this paper, we present the EndoDepth benchmark, an evaluation framework designed to…

Monocular depth estimation enables 3D perception from a single 2D image, thus attracting much research attention for years. Almost all methods treat foreground and background regions ("things and stuff") in an image equally. However, not…