Self-Supervised Monocular Depth Hints

Jamie Watson, Michael Firman, Gabriel J. Brostow, Daniyar Turmukhambetov; The IEEE International Conference on Computer Vision (ICCV), 2019, pp. 2162-2171

Abstract


Monocular depth estimators can be trained with various forms of self-supervision from binocular-stereo data to circumvent the need for high-quality laser-scans or other ground-truth data. The disadvantage, however, is that the photometric reprojection losses used with self-supervised learning typically have multiple local minima. These plausible-looking alternatives to ground-truth can restrict what a regression network learns, causing it to predict depth maps of limited quality. As one prominent example, depth discontinuities around thin structures are often incorrectly estimated by current state-of-the-art methods. Here, we study the problem of ambiguous reprojections in depth-prediction from stereo-based self-supervision, and introduce Depth Hints to alleviate their effects. Depth Hints are complementary depth-suggestions obtained from simple off-the-shelf stereo algorithms. These hints enhance an existing photometric loss function, and are used to guide a network to learn better weights. They require no additional data, and are assumed to be right only sometimes. We show that using our Depth Hints gives a substantial boost when training several leading self-supervised-from-stereo models, not just our own. Further, combined with other good practices, we produce state-of-the-art depth predictions on the KITTI benchmark.

Related Material


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[bibtex]
@InProceedings{Watson_2019_ICCV,
author = {Watson, Jamie and Firman, Michael and Brostow, Gabriel J. and Turmukhambetov, Daniyar},
title = {Self-Supervised Monocular Depth Hints},
booktitle = {The IEEE International Conference on Computer Vision (ICCV)},
month = {October},
year = {2019}
}