# UCorr: Wire Detection and Depth Estimation for Autonomous Drones

arXiv: https://arxiv.org/abs/2509.14989 · HTML: https://mlsanity.com/paper/2509.14989/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 44 references that are in the map.
- First posted on arXiv 18 Sep 2025.

## Builds on (most cited first, 17 of 17)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [Deeper Depth Prediction with Fully Convolutional Residual Networks](https://mlsanity.com/paper/1606.00373/) (2016)
- [BinsFormer: Revisiting Adaptive Bins for Monocular Depth Estimation](https://mlsanity.com/paper/2204.00987/) (2022)
- [Richer Convolutional Features for Edge Detection](https://mlsanity.com/paper/1612.02103/) (2016)
- [Understanding the Role of the Projector in Knowledge Distillation](https://mlsanity.com/paper/2303.11098/) (2023)
- [DDOS: The Drone Depth and Obstacle Segmentation Dataset](https://mlsanity.com/paper/2312.12494/) (2023)
- [LS-Net: Fast Single-Shot Line-Segment Detector](https://mlsanity.com/paper/1912.09532/) (2019)
- [Automatic High Resolution Wire Segmentation and Removal](https://mlsanity.com/paper/2304.00221/) (2023)
- [Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots](https://mlsanity.com/paper/1708.04006/) (2017)

## Abstract (arXiv)

In the realm of fully autonomous drones, the accurate detection of obstacles is paramount to ensure safe navigation and prevent collisions. Among these challenges, the detection of wires stands out due to their slender profile, which poses a unique and intricate problem. To address this issue, we present an innovative solution in the form of a monocular end-to-end model for wire segmentation and depth estimation. Our approach leverages a temporal correlation layer trained on synthetic data, providing the model with the ability to effectively tackle the complex joint task of wire detection and depth estimation. We demonstrate the superiority of our proposed method over existing competitive approaches in the joint task of wire detection and depth estimation. Our results underscore the potential of our model to enhance the safety and precision of autonomous drones, shedding light on its promising applications in real-world scenarios.