Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation
Brandon Wagstaff,Jonathan Kelly,Brandon Wagstaff,Jonathan Kelly
The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is that the depth and egomotion estimates are only determined up to an unknown scale. In this paper, we present a novel scale recovery loss that enforces consistency...
