相关论文: The Midas Touch for Metric Depth

Depth-guided 3D reconstruction has gained popularity as a fast alternative to optimization-heavy approaches, yet existing methods still suffer from scale drift, multi-view inconsistencies, and the need for substantial refinement to achieve…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

Video depth estimation extends monocular prediction into the temporal domain to ensure coherence. However, existing methods often suffer from spatial blurring in fine-detail regions and temporal inconsistencies. We argue that current…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

Depth estimation plays a great potential role in obstacle avoidance and navigation for further Mars exploration missions. Compared to traditional stereo matching, learning-based stereo depth estimation provides a data-driven approach to…

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…

We introduce Metric3D v2, a geometric foundation model for zero-shot metric depth and surface normal estimation from a single image, which is crucial for metric 3D recovery. While depth and normal are geometrically related and highly…

Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches either rely on LiDAR or geometric priors to compensate for…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

Efficiently synthesizing novel views from sparse inputs while maintaining accuracy remains a critical challenge in 3D reconstruction. While advanced techniques like radiance fields and 3D Gaussian Splatting achieve rendering quality and…

Multidimensional scaling (MDS) is a popular technique for mapping a finite metric space into a low-dimensional Euclidean space in a way that best preserves pairwise distances. We study a notion of MDS on infinite metric measure spaces,…

Metric embeddings are a widely used method in algorithm design, where generally a ``complex'' metric is embedded into a simpler, lower-dimensional one. Historically, the theoretical computer science community has focused on bi-Lipschitz…

Geometric priors are often used to enhance 3D reconstruction. With many smartphones featuring low-resolution depth sensors and the prevalence of off-the-shelf monocular geometry estimators, incorporating geometric priors as regularization…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for generating photorealistic renderings of a scene in real-time. However, the volumetric nature of 3DGS limits its ability to accurately capture surface geometry. To address…

We introduce a novel framework for metric depth estimation that enhances pretrained diffusion-based monocular depth estimation (DB-MDE) models with stereo vision guidance. While existing DB-MDE methods excel at predicting relative depth,…

Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…

This work presents the Large Depth Completion Model (LDCM), a simple, effective, and robust framework for single-view metric depth estimation with sparse observations. Without relying on complex architectural designs, LDCM generates…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…