arvix日报0610

Semantics-Driven Unsupervised Learning for Monocular Depth and Ego-Motion Estimation
标题:语义驱动的无监督学习用于单目深度和自我运动估计
作者： Xiaobin Wei, Jie Zhou
链接：https://arxiv.org/abs/2006.04371

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as a supervision signal for training. In our method, we exploit semantic segmentation information to mitigate the effects of dynamic objects and occlusions in the scene, and to improve depth prediction performance by considering the correlation between depth and semantics. To avoid costly labeling process, we use noisy semantic segmentation results obtained by a pre-trained semantic segmentation network. In addition, we minimize the position error between the corresponding points of adjacent frames to utilize 3D spatial information. Experimental results on the KITTI dataset show that our method achieves good performance in both depth and ego-motion estimation tasks.