Integrating Sensor Models in Deep Learning Boosts Performance: Application to Monocular Depth Estimation in Warehouse Automation
نویسندگان
چکیده
منابع مشابه
A Compromise Principle in Deep Monocular Depth Estimation
Monocular depth estimation, which plays a key role in understanding 3D scene geometry, is fundamentally an illposed problem. Existing methods based on deep convolutional neural networks (DCNNs) have examined this problem by learning convolutional networks to estimate continuous depth maps from monocular images. However, we find that training a network to predict a high spatial resolution contin...
متن کاملUnsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction
Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the possibility of learning without full supervision via minimizing photometric error. In this paper, we explore the use of stereo sequences for learning depth and ...
متن کاملQualitative Estimation of Depth in Monocular Vision
In this paper we propose two techniques to qualitatively estimate distance in monocular vision. Two kinds of approaches are described, the former based on texture analysis and the latter on histogram inspection. Although both the methods allow only to determine whether a point within an image is nearer or farther than another with respect to the observer, they can be usefully exploited in all t...
متن کاملSelf-Supervised Monocular Image Depth Learning and Confidence Estimation
Convolutional Neural Networks (CNNs) need large amounts of data with ground truth annotation, which is a challenging problem that has limited the development and fast deployment of CNNs for many computer vision tasks. We propose a novel framework for depth estimation from monocular images with corresponding confidence in a selfsupervised manner. A fully differential patch-based cost function is...
متن کاملTowards Domain Independence for Learning-based Monocular Depth Estimation
Modern autonomous mobile robots require a strong understanding of their surroundings in order to safely operate in cluttered and dynamic environments. Monocular depth estimation offers a geometry-independent paradigm to detect free, navigable space with minimum space and power consumption. These represent highly desirable features, especially for micro aerial vehicles. In order to guarantee rob...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2021
ISSN: 1424-8220
DOI: 10.3390/s21041437