English

Self-distilled Feature Aggregation for Self-supervised Monocular Depth Estimation

Computer Vision and Pattern Recognition 2022-09-16 v1

Abstract

Self-supervised monocular depth estimation has received much attention recently in computer vision. Most of the existing works in literature aggregate multi-scale features for depth prediction via either straightforward concatenation or element-wise addition, however, such feature aggregation operations generally neglect the contextual consistency between multi-scale features. Addressing this problem, we propose the Self-Distilled Feature Aggregation (SDFA) module for simultaneously aggregating a pair of low-scale and high-scale features and maintaining their contextual consistency. The SDFA employs three branches to learn three feature offset maps respectively: one offset map for refining the input low-scale feature and the other two for refining the input high-scale feature under a designed self-distillation manner. Then, we propose an SDFA-based network for self-supervised monocular depth estimation, and design a self-distilled training strategy to train the proposed network with the SDFA module. Experimental results on the KITTI dataset demonstrate that the proposed method outperforms the comparative state-of-the-art methods in most cases. The code is available at https://github.com/ZM-Zhou/SDFA-Net_pytorch.

Keywords

Cite

@article{arxiv.2209.07088,
  title  = {Self-distilled Feature Aggregation for Self-supervised Monocular Depth Estimation},
  author = {Zhengming Zhou and Qiulei Dong},
  journal= {arXiv preprint arXiv:2209.07088},
  year   = {2022}
}

Comments

Accepted to ECCV 2022

R2 v1 2026-06-28T01:20:27.467Z