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Get 3D scene from one image by using the distances between points in a latent space with SQLdepth

Get 3D scene from one image by using the distances between points in a latent space with SQLdepth


SQLdepth: Generalizable Self-Supervised Fine-Structured Monocular Depth Estimation

arXiv paper abstract https://arxiv.org/abs/2309.00526



... self-supervised monocular depth estimation has gained popularity with numerous applications in autonomous driving and robotics.


... introduce SQLdepth, a novel approach that can effectively learn fine-grained scene structures from motion.


... propose a novel Self Query Layer (SQL) to build a self-cost volume and infer depth from it, rather than inferring depth from feature maps.


The self-cost volume implicitly captures the intrinsic geometry of the scene within a single frame.


Each individual slice of the volume signifies the relative distances between points and objects within a latent space.


... Experimental results on KITTI and Cityscapes show that ... method attains remarkable state-of-the-art performance ... can surpass existing supervised methods by significant margins ...



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