3D Packing for Self-Supervised Monocular Depth Estimation

动机：

propose a novel self-supervised monocular depth estimation method combining geometry with a new deep network
【CC】混合了几何特性的（就是后面的视锥模型）的自监督的单目深度估计网络

创新点

Our architecture leverages novel symmetrical packing and unpacking blocks to jointly learn to compress and decompress detail-preserving representations using 3D convolutions.
【CC】设计了新的Block 在保证细节精度的前提下进行ENCODE/DECODE（压缩/解压缩）。有3D Conv块就太可能快速，是不是可以用“高度信息作为额外通道”放入2D Conv块的方式进行加速？

we address the problem of jointly estimating scene structure and camera motion across RGB image sequences using a self-supervised deep network
【CC】输入RBG图像序列通过自监督的方式估计出：结构化场景（目标深度）和相机运动（R/t阵）

All, however, take advantage of constraints in monocular Structure-from-Motion (SfM) training that only allow the estimation of depth and pose up to an unknown scale factor, and rely on the ground-truth LiDAR measu,rements to scale their depth estimates appropriately for evaluation purposes
【CC】用单目SFM约束条件对深度进行估计，任然没有尺度信息, 本文通过车速来克服这一点

论文参考

Unsupervised monocular depth estimation with left-right consistency
【CC】自监督深度估的经典之作，使用左-右Camera得到的图片一个做预测一个做监督，开山之作

Unsupervised learning of depth and ego-motion from video
【CC】本文的自监督的架构和目标函数的设计都参考了上面文章

Real-time single image and video super-resolution using an efficient sub-pixel convolutional neural network
【CC】Space2Depth/Depth2Space操作参考上面文章

Self-Supervised Scale-Aware SfM

we learn to recover the inverse depth fd : I → fD−1(I) instead, along with the ego-motion estimator fx
【CC】有点自编码器（VAE）的意思

The overall loss function is averaged perpixel, pyramid-scale and image batch during training：