English

Deep feature fusion for self-supervised monocular depth prediction

Computer Vision and Pattern Recognition 2020-05-19 v1

Abstract

Recent advances in end-to-end unsupervised learning has significantly improved the performance of monocular depth prediction and alleviated the requirement of ground truth depth. Although a plethora of work has been done in enforcing various structural constraints by incorporating multiple losses utilising smoothness, left-right consistency, regularisation and matching surface normals, a few of them take into consideration multi-scale structures present in real world images. Most works utilise a VGG16 or ResNet50 model pre-trained on ImageNet weights for predicting depth. We propose a deep feature fusion method utilising features at multiple scales for learning self-supervised depth from scratch. Our fusion network selects features from both upper and lower levels at every level in the encoder network, thereby creating multiple feature pyramid sub-networks that are fed to the decoder after applying the CoordConv solution. We also propose a refinement module learning higher scale residual depth from a combination of higher level deep features and lower level residual depth using a pixel shuffling framework that super-resolves lower level residual depth. We select the KITTI dataset for evaluation and show that our proposed architecture can produce better or comparable results in depth prediction.

Keywords

Cite

@article{arxiv.2005.07922,
  title  = {Deep feature fusion for self-supervised monocular depth prediction},
  author = {Vinay Kaushik and Brejesh Lall},
  journal= {arXiv preprint arXiv:2005.07922},
  year   = {2020}
}

Comments

4 pages, 2 Tables, 2 Figures

R2 v1 2026-06-23T15:35:23.989Z