Self-Supervised SVDE from Videos with Depth Variance to Shifted Positional Information

Juan Luis Gonzalez, Jaeho Moon, Munchurl Kim

Keywords: Self-supervised, Depth Estimation, Monocular Depth

Abstract: Recently, much attention has been drawn to learning the underlying 3D structures of a scene from monocular videos in a fully self-supervised fashion. One of the most challenging aspects of this task is handling the independently moving objects as they break the rigid-scene assumption. For the first time, we show that pixel positional information can be exploited to learn SVDE (Single View Depth Estimation) from videos. Our proposed moving object (MO) masks, which are induced by depth variance to shifted $positional information$ (SPI) and referred to as `SPIMO' masks, are very robust and consistently remove the independently moving objects in the scenes, allowing for better learning of SVDE from videos. Additionally, we introduce a new adaptive quantization scheme that assigns the best per-pixel quantization curve for our depth discretization. Finally, we employ existing boosting techniques in a new way to further self-supervise the depth of the moving objects. With these features, our pipeline is robust against moving objects and generalizes well to high-resolution images, even when trained with small patches, yielding state-of-the-art (SOTA) results with 4 to 8x fewer parameters than the previous SOTA that learns from videos. We present extensive experiments on KITTI and CityScapes that show the effectiveness of our method.

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