相关论文: Neuromorphic Monocular Depth Estimation with Uncer…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

The majority of prior monocular depth estimation methods without groundtruth depth guidance focus on driving scenarios. We show that such methods generalize poorly to unseen complex indoor scenes, where objects are cluttered and arbitrarily…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

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…

We present a novel approach designed to address the complexities posed by challenging, out-of-distribution data in the single-image depth estimation task. Starting with images that facilitate depth prediction due to the absence of…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Event-based cameras have shown great promise in a variety of situations where frame based cameras suffer, such as high speed motions and high dynamic range scenes. However, developing algorithms for event measurements requires a new class…

Despite the recent improvements in overall accuracy, deep learning systems still exhibit low levels of robustness. Detecting possible failures is critical for a successful clinical integration of these systems, where each data point…

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community. Unsupervised strategies to learning are particularly appealing as they can utilize much larger and varied…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

Monocular depth estimation is critical for applications such as autonomous driving and scene reconstruction. While existing methods perform well under normal scenarios, their performance declines in adverse weather, due to challenging…

Self-supervised learning for monocular depth estimation is widely investigated as an alternative to supervised learning approach, that requires a lot of ground truths. Previous works have successfully improved the accuracy of depth…

We introduce a way to learn to estimate a scene representation from a single image by predicting a low-dimensional subspace of optical flow for each training example, which encompasses the variety of possible camera and object movement.…

Monocular depth estimation from a single image is an ill-posed problem for computer vision due to insufficient reliable cues as the prior knowledge. Besides the inter-frame supervision, namely stereo and adjacent frames, extensive prior…

Pre-trained Vision-Language Models (VLMs), such as CLIP, have shown enhanced performance across a range of tasks that involve the integration of visual and linguistic modalities. When CLIP is used for depth estimation tasks, the patches,…

Nighttime self-supervised monocular depth estimation has received increasing attention in recent years. However, using night images for self-supervision is unreliable because the photometric consistency assumption is usually violated in the…

Event cameras asynchronously capture brightness changes with low latency, high temporal resolution, and high dynamic range. However, annotation of event data is a costly and laborious process, which limits the use of deep learning methods…

Assessing the predictive uncertainty of deep neural networks is crucial for safety-related applications of deep learning. Although Bayesian deep learning offers a principled framework for estimating model uncertainty, the common approaches…

Event cameras can record scene dynamics with high temporal resolution, providing rich scene details for monocular depth estimation (MDE) even at low-level illumination. Therefore, existing complementary learning approaches for MDE fuse…