SelfTune: Metrically Scaled Monocular Depth Estimation through Self-Supervised Learning
Jaehoon Choi,Dongki Jung,Yonghan Lee,Deokhwa Kim,Dinesh Manocha,Donghwan Lee,Jaehoon Choi,Dongki Jung,Yonghan Lee,Deokhwa Kim,Dinesh Manocha,Donghwan Lee
Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with proprioceptive sensors. Such monocular SLAM systems can provide metrically scaled camera poses. Given these metric poses and monocular sequences, we propose a self-superv...
