2,000 research outputs found
GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks
In the last decade, supervised deep learning approaches have been extensively
employed in visual odometry (VO) applications, which is not feasible in
environments where labelled data is not abundant. On the other hand,
unsupervised deep learning approaches for localization and mapping in unknown
environments from unlabelled data have received comparatively less attention in
VO research. In this study, we propose a generative unsupervised learning
framework that predicts 6-DoF pose camera motion and monocular depth map of the
scene from unlabelled RGB image sequences, using deep convolutional Generative
Adversarial Networks (GANs). We create a supervisory signal by warping view
sequences and assigning the re-projection minimization to the objective loss
function that is adopted in multi-view pose estimation and single-view depth
generation network. Detailed quantitative and qualitative evaluations of the
proposed framework on the KITTI and Cityscapes datasets show that the proposed
method outperforms both existing traditional and unsupervised deep VO methods
providing better results for both pose estimation and depth recovery.Comment: ICRA 2019 - accepte
Learning Depth from Monocular Videos using Direct Methods
The ability to predict depth from a single image - using recent advances in
CNNs - is of increasing interest to the vision community. Unsupervised
strategies to learning are particularly appealing as they can utilize much
larger and varied monocular video datasets during learning without the need for
ground truth depth or stereo. In previous works, separate pose and depth CNN
predictors had to be determined such that their joint outputs minimized the
photometric error. Inspired by recent advances in direct visual odometry (DVO),
we argue that the depth CNN predictor can be learned without a pose CNN
predictor. Further, we demonstrate empirically that incorporation of a
differentiable implementation of DVO, along with a novel depth normalization
strategy - substantially improves performance over state of the art that use
monocular videos for training
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