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Get absolute depth in monocular self-supervised depth estimation by global scale factor with Dana

Get absolute depth in monocular self-supervised depth estimation by global scale factor with Dana


One scalar is all you need -- absolute depth estimation using monocular self-supervision

arXiv paper abstract https://arxiv.org/abs/2303.07662

arXiv PDF paper (starts on page 3) https://arxiv.org/pdf/2303.07662.pdf



Self-supervised monocular depth estimators can be trained or fine-tuned on new scenes using only images and no ground-truth depth data ... However, these estimators suffer from the inherent ambiguity of the depth scale, significantly limiting their applicability.


... present a method for transferring the depth-scale from existing source datasets collected with ground-truth depths to depth estimators that are trained using self-supervision on a newly collected target dataset consisting of images only


... show that self-supervision based on projective geometry results in predicted depths that are linearly correlated with their ground-truth depths.


... utilize this observed property and model the relationship between the ground-truth and the predicted up-to-scale depths of images from the source domain using a single global scalar.


... scale the predicted up-to-scale depths of images from the target domain using the estimated global scaling factor, performing depth-scale transfer between the two domains.


... achieves competitive accuracy on KITTI ... and higher accuracy on DDAD, when using both real or synthetic source datasets.



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