相关论文: Visual Autoregressive Modelling for Monocular Dept…

Visual Autoregressive(VAR) models enhance generation quality but face a critical efficiency bottleneck in later stages. In this paper, we present a novel optimization framework for VAR models that fundamentally differs from prior approaches…

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…

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…

Monocular depth estimation is vital for scene understanding and downstream tasks. We focus on the supervised setup, in which ground-truth depth is available only at training time. Based on knowledge about the high regularity of real 3D…

We investigate the fundamental limits of transformer-based foundation models, extending our analysis to include Visual Autoregressive (VAR) transformers. VAR represents a big step toward generating images using a novel, scalable,…

Recent developments in monocular depth estimation methods enable high-quality depth estimation of single-view images but fail to estimate consistent video depth across different frames. Recent works address this problem by applying a video…

Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…

Visual autoregressive models (VAR) have recently emerged as a promising class of generative models, achieving performance comparable to diffusion models in text-to-image generation tasks. While conditional generation has been widely…

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…

This paper addresses the problem of Monocular Depth Estimation (MDE). Existing approaches on MDE usually model it as a pixel-level regression problem, ignoring the underlying geometry property. We empirically find this may result in…

Unsupervised monocular depth estimation has received widespread attention because of its capability to train without ground truth. In real-world scenarios, the images may be blurry or noisy due to the influence of weather conditions and…

While inference-time scaling has significantly enhanced generative quality in large language and diffusion models, its application to vector-quantized (VQ) visual autoregressive modeling (VAR) remains unexplored. We introduce VAR-Scaling,…

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…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

Visual AutoRegressive (VAR) modeling has garnered significant attention for its innovative next-scale prediction paradigm. However, mainstream VAR paradigms attend to all tokens across historical scales at each autoregressive step. As the…

Three-dimensional (3D) reconstruction from a single image is an ill-posed problem with inherent ambiguities, i.e. scale. Predicting a 3D scene from text description(s) is similarly ill-posed, i.e. spatial arrangements of objects described.…

Monocular depth estimation aims at predicting depth from a single image or video. Recently, self-supervised methods draw much attention since they are free of depth annotations and achieve impressive performance on several daytime…

Visual AutoRegressive (VAR) models based on next-scale prediction enable efficient hierarchical generation, yet the inference cost grows quadratically at high resolutions. We observe that the computationally intensive later scales…

We integrate sparse radar data into a monocular depth estimation model and introduce a novel preprocessing method for reducing the sparseness and limited field of view provided by radar. We explore the intrinsic error of different radar…