Monocular Visual-Inertial Depth Estimation
Diana Wofk,René Ranftl,Matthias Müller,Vladlen Koltun,Diana Wofk,René Ranftl,Matthias Müller,Vladlen Koltun
We present a visual-inertial depth estimation pipeline that integrates monocular depth estimation and visual- inertial odometry to produce dense depth estimates with metric scale. Our approach performs global scale and shift alignment against sparse metric depth, followed by learning-based dense alignment. We evaluate on the TartanAir and VOID datasets, observing up to 30% reduction in inverse RMS...
