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

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Monocular depth estimation is a challenging task in complex compositions depicting multiple objects of diverse scales. Albeit the recent great progress thanks to the deep convolutional neural networks (CNNs), the state-of-the-art monocular…

Underwater 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

Recent advances in deep-learning based methods for image matching have demonstrated their superiority over traditional algorithms, enabling correspondence estimation in challenging scenes with significant differences in viewing angles,…

Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…

We present a cross-domain inference technique that learns from synthetic data to estimate depth and normals for in-the-wild omnidirectional 3D scenes encountered in real-world uncontrolled settings. To this end, we introduce UBotNet, an…

Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for…

Multi-frame depth estimation generally achieves high accuracy relying on the multi-view geometric consistency. When applied in dynamic scenes, e.g., autonomous driving, this consistency is usually violated in the dynamic areas, leading to…

3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…

Indoor monocular depth estimation helps home automation, including robot navigation or AR/VR for surrounding perception. Most previous methods primarily experiment with the NYUv2 Dataset and concentrate on the overall performance in their…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…

Depth estimation plays a important role in SLAM, odometry, and autonomous driving. Especially, monocular depth estimation is profitable technology because of its low cost, memory, and computation. However, it is not a sufficiently…

Autonomous and safe landing is important for unmanned aerial vehicles. We present a monocular and stereo image based method for fast and accurate landing zone evaluation for UAVs in various scenarios. Many existing methods rely on Lidar or…

In recent years, foundation models for monocular depth estimation have received increasing attention. Current methods mainly address typical daylight conditions, but their effectiveness notably decreases in low-light environments. There is…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Aerial images are often taken under poor lighting conditions and contain low resolution objects, many times occluded by other objects. In this domain, visual context could be of great help, but there are still very few papers that consider…

Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…