Corpus ID: 221535569

Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation

@article{Wagstaff2020SelfSupervisedSR,
  title={Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation},
  author={Brandon Wagstaff and Jonathan Kelly},
  journal={ArXiv},
  year={2020},
  volume={abs/2009.03787}
}
The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is that the depth and egomotion estimates are only determined up to an unknown scale. In this paper, we present a novel scale recovery loss that enforces consistency between a known camera height and the estimated camera height, generating metric (scaled) depth… Expand

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