{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/monorec-semi-supervised-dense-reconstruction","title":"MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera","arxiv_id":"2011.11814","date":"2020-11-24","proceeding":"CVPR 2021 1","authors":["Felix Wimbauer","Nan Yang","Lukas von Stumberg","Niclas Zeller","Daniel Cremers"],"abstract":"In this paper, we propose MonoRec, a semi-supervised monocular dense reconstruction architecture that predicts depth maps from a single moving camera in dynamic environments. MonoRec is based on a multi-view stereo setting which encodes the information of multiple consecutive images in a cost volume. To deal with dynamic objects in the scene, we introduce a MaskModule that predicts moving object masks by leveraging the photometric inconsistencies encoded in the cost volumes. Unlike other multi-view stereo methods, MonoRec is able to reconstruct both static and moving objects by leveraging the predicted masks. Furthermore, we present a novel multi-stage training scheme with a semi-supervised loss formulation that does not require LiDAR depth values. We carefully evaluate MonoRec on the KITTI dataset and show that it achieves state-of-the-art performance compared to both multi-view and single-view methods. With the model trained on KITTI, we further demonstrate that MonoRec is able to generalize well to both the Oxford RobotCar dataset and the more challenging TUM-Mono dataset recorded by a handheld camera. Code and related materials will be available at https://vision.in.tum.de/research/monorec.","url_abs":"https://arxiv.org/abs/2011.11814v3","url_pdf":"https://arxiv.org/pdf/2011.11814v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"monorec-semi-supervised-dense-reconstruction","repo_url":"https://github.com/Brummi/MonoRec","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"unanswered"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2011.11814","atlas_url":"https://app.syntology.ai/?focus=2011.11814","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}