73 research outputs found
Disentangling Object Motion and Occlusion for Unsupervised Multi-frame Monocular Depth
Conventional self-supervised monocular depth prediction methods are based on
a static environment assumption, which leads to accuracy degradation in dynamic
scenes due to the mismatch and occlusion problems introduced by object motions.
Existing dynamic-object-focused methods only partially solved the mismatch
problem at the training loss level. In this paper, we accordingly propose a
novel multi-frame monocular depth prediction method to solve these problems at
both the prediction and supervision loss levels. Our method, called
DynamicDepth, is a new framework trained via a self-supervised cycle consistent
learning scheme. A Dynamic Object Motion Disentanglement (DOMD) module is
proposed to disentangle object motions to solve the mismatch problem. Moreover,
novel occlusion-aware Cost Volume and Re-projection Loss are designed to
alleviate the occlusion effects of object motions. Extensive analyses and
experiments on the Cityscapes and KITTI datasets show that our method
significantly outperforms the state-of-the-art monocular depth prediction
methods, especially in the areas of dynamic objects. Our code will be made
publicly available
- …