103 research outputs found
Self-Attention Dense Depth Estimation Network for Unrectified Video Sequences
The dense depth estimation of a 3D scene has numerous applications, mainly in
robotics and surveillance. LiDAR and radar sensors are the hardware solution
for real-time depth estimation, but these sensors produce sparse depth maps and
are sometimes unreliable. In recent years research aimed at tackling depth
estimation using single 2D image has received a lot of attention. The deep
learning based self-supervised depth estimation methods from the rectified
stereo and monocular video frames have shown promising results. We propose a
self-attention based depth and ego-motion network for unrectified images. We
also introduce non-differentiable distortion of the camera into the training
pipeline. Our approach performs competitively when compared to other
established approaches that used rectified images for depth estimation
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