BriefGPT.xyz
Oct, 2020
动态场景下的无监督单目深度学习
Unsupervised Monocular Depth Learning in Dynamic Scenes
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Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova
TL;DR
本研究提出一种方法,利用单眼光度一致性为唯一的监督,联合训练深度、自我运动估计和物体相对于场景的稠密三维平移场的估计,通过已知3D平移场的稀疏性和对于刚性移动物体的恒定性进行正则化,有效提高了单眼深度预测模型的准确性。
Abstract
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
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