相关论文: Real-Time Monocular Scene Analysis for UAV in Outd…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

There has been tremendous research progress in estimating the depth of a scene from a monocular camera image. Existing methods for single-image depth prediction are exclusively based on deep neural networks, and their training can be…

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…

We present a method for inferring dense depth maps from images and sparse depth measurements by leveraging synthetic data to learn the association of sparse point clouds with dense natural shapes, and using the image as evidence to validate…

Lightweight long-range mapping is critical for safe navigation of UAV swarms in large-scale unknown environments. Traditional stereo vision systems with fixed short baselines face limited perception ranges. To address this, we propose…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…

Relative monocular depth, inferring depth up to shift and scale from a single image, is an active research topic. Recent deep learning models, trained on large and varied meta-datasets, now provide excellent performance in the domain of…

Self-supervised monocular depth estimation has achieved impressive performance on outdoor datasets. Its performance however degrades notably in indoor environments because of the lack of textures. Without rich textures, the photometric…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

Robust geometric and semantic scene understanding is ever more important in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based approach capable of jointly…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…

Monocular depth estimation has recently progressed beyond ordinal depth to provide metric depth predictions. However, its reliability in underwater environments remains limited due to light attenuation and scattering, color distortion,…

Current self-supervised methods for monocular depth estimation are largely based on deeply nested convolutional networks that leverage stereo image pairs or monocular sequences during a training phase. However, they often exhibit inaccurate…

This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…

Different environments pose a great challenge to the outdoor robust visual perception for long-term autonomous driving, and the generalization of learning-based algorithms on different environments is still an open problem. Although…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Deep neural networks are applied to a wide range of problems in recent years. In this work, Convolutional Neural Network (CNN) is applied to the problem of determining the depth from a single camera image (monocular depth). Eight different…