Unsupervised Monocular Depth Learning in Dynamic Scenes [article]

Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova
2020 arXiv   pre-print
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 apparently heavily underdetermined problem can be regularized by imposing the following prior knowledge about 3D translation fields: they are sparse, since most of the scene is static, and they tend to be constant for rigid moving objects. We show that this
more » ... gularization alone is sufficient to train monocular depth prediction models that exceed the accuracy achieved in prior work for dynamic scenes, including methods that require semantic input. Code is at https://github.com/google-research/google-research/tree/master/depth_and_motion_learning .
arXiv:2010.16404v2 fatcat:dwf7hypltnbijn3somdt6hv2zu