相关论文: LuMon: A Comprehensive Benchmark and Development S…

Low-light image enhancement remains a challenging problem due to severe noise, color distortion, contrast degradation, and loss of structural details under insufficient illumination. Existing methods typically apply uniform enhancement…

This study introduces a data-driven approach using machine learning (ML) techniques to explore and predict albedo anomalies on the Moon's surface. The research leverages diverse planetary datasets, including high-spatial-resolution albedo…

Accurate Monocular Depth Estimation (MDE) is critical for autonomous robotic surgery. However, existing self-supervised methods often exhibit a severe "ex-vivo to in-vivo gap": they achieve high accuracy on public datasets but struggle in…

Monocular depth estimation (MDE) aims to transform an RGB image of a scene into a pixelwise depth map from the same camera view. It is fundamentally ill-posed due to missing information: any single image can have been taken from many…

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…

Global localization is necessary for autonomous operations on the lunar surface where traditional Earth-based navigation infrastructure, such as GPS, is unavailable. As NASA advances toward sustained lunar presence under the Artemis…

Depth estimation is a fundamental knowledge for autonomous systems that need to assess their own state and perceive the surrounding environment. Deep learning algorithms for depth estimation have gained significant interest in recent years,…

Monocular depth estimation (MDE) plays a crucial role in enabling spatially-aware applications in Ultra-low-power (ULP) Internet-of-Things (IoT) platforms. However, the limited number of parameters of Deep Neural Networks for the MDE task,…

We present two versatile methods to generally enhance self-supervised monocular depth estimation (MDE) models. The high generalizability of our methods is achieved by solving the fundamental and ubiquitous problems in photometric loss…

Large Language Models (LLMs) have demonstrated remarkable capabilities across diverse applications, from open-domain question answering to scientific writing, medical decision support, and legal analysis. However, their tendency to generate…

Monocular depth estimation (MDE) for colonoscopy is hampered by the domain gap between simulated and real-world images. Existing image-to-image translation methods, which use depth as a posterior constraint, often produce structural…

Private lunar missions are faced with the challenge of robust autonomous navigation while operating under stringent constraints on mass, power, and computational resources. This work proposes a motion-field inversion framework that uses…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

A passive and multi-channel microwave sounder onboard Chang'E-2 orbiter has successfully performed microwave observation of the lunar surface and subsurface structure. Compared with Chang'E-1 orbiter, Chang'E-2 orbiter obtained more…

This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo…

Data from the Lunar Exploration Neutron Detector (LEND) Collimated Sensors for Epithermal Neutrons (CSETN) are used in conjunction with a model based on results from the Lunar Prospector mission to quantify the extent of the background in…

Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across…

Recent advances in multimodal vision-language models (VLMs) have enabled joint reasoning over visual and textual information, yet their application to planetary science remains largely unexplored. A key hindrance is the absence of…

Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…