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Register a new userWasserstein Distances for Stereo Disparity Estimation
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Added by
Divyansh Garg
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Existing approaches to depth or disparity estimation output a distribution over a set of pre-defined discrete values. This leads to inaccurate results when the true depth or disparity does not match any of these values. The fact that this distribution is usually learned indirectly through a regression loss causes further problems in ambiguous regions around object boundaries. We address these issues using a new neural network architecture that is capable of outputting arbitrary depth values, and a new loss function that is derived from the Wasserstein distance between the true and the predicted distributions. We validate our approach on a variety of tasks, including stereo disparity and depth estimation, and the downstream 3D object detection. Our approach drastically reduces the error in ambiguous regions, especially around object boundaries that greatly affect the localization of objects in 3D, achieving the state-of-the-art in 3D object detection for autonomous driving. Our code will be available at https://github.com/Div99/W-Stereo-Disp.
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Under stereo settings, the problem of image super-resolution (SR) and disparity estimation are interrelated that the result of each problem could help to solve the other. The effective exploitation of correspondence between different views facilitates the SR performance, while the high-resolution (HR) features with richer details benefit the correspondence estimation. According to this motivation, we propose a Stereo Super-Resolution and Disparity Estimation Feedback Network (SSRDE-FNet), which simultaneously handles the stereo image super-resolution and disparity estimation in a unified framework and interact them with each other to further improve their performance. Specifically, the SSRDE-FNet is composed of two dual recursive sub-networks for left and right views. Besides the cross-view information exploitation in the low-resolution (LR) space, HR representations produced by the SR process are utilized to perform HR disparity estimation with higher accuracy, through which the HR features can be aggregated to generate a finer SR result. Afterward, the proposed HR Disparity Information Feedback (HRDIF) mechanism delivers information carried by HR disparity back to previous layers to further refine the SR image reconstruction. Extensive experiments demonstrate the effectiveness and advancement of SSRDE-FNet.
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