Corpus ID: 232478660

Full Surround Monodepth from Multiple Cameras

  title={Full Surround Monodepth from Multiple Cameras},
  author={V. Guizilini and Igor Vasiljevic and Rares Ambrus and G. Shakhnarovich and Adrien Gaidon},
Self-supervised monocular depth and ego-motion estimation is a promising approach to replace or supplement expensive depth sensors such as LiDAR for robotics applications like autonomous driving. However, most research in this area focuses on a single monocular camera or stereo pairs that cover only a fraction of the scene around the vehicle. In this work, we extend monocular self-supervised depth and ego-motion estimation to large-baseline multicamera rigs. Using generalized spatio-temporal… Expand


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