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Register a new userInstance-wise Depth and Motion Learning from Monocular Videos
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Seokju Lee
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we propose a differentiable forward rigid projection module that plays a key role in our instance-wise depth and motion learning. Second, we design an instance-wise photometric and geometric consistency loss that effectively decomposes background and moving object regions. Lastly, we introduce a new auto-annotation scheme to produce video instance segmentation maps that will be utilized as input to our training pipeline. These proposed elements are validated in a detailed ablation study. Through extensive experiments conducted on the KITTI dataset, our framework is shown to outperform the state-of-the-art depth and motion estimation methods. Our code and dataset will be available at https://github.com/SeokjuLee/Insta-DM.
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We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we highlight the fundamental difference between inverse and forward projection while modeling the individual motion of each rigid object, and propose a geometrically correct projection pipeline using a neural forward projection module. Second, we design a unified instance-aware photometric and geometric consistency loss that holistically imposes self-supervisory signals for every background and object region. Lastly, we introduce a general-purpose auto-annotation scheme using any off-the-shelf instance segmentation and optical flow models to produce video instance segmentation maps that will be utilized as input to our training pipeline. These proposed elements are validated in a detailed ablation study. Through extensive experiments conducted on the KITTI and Cityscapes dataset, our framework is shown to outperform the state-of-the-art depth and motion estimation methods. Our code, dataset, and models are available at https://github.com/SeokjuLee/Insta-DM .
Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors between the target view and the synthesized views from its adjacent source views as the loss. Despite significant progress, the learning still suffers from occlusion and scene dynamics. This paper shows that carefully manipulating photometric errors can tackle these difficulties better. The primary improvement is achieved by a statistical technique that can mask out the invisible or nonstationary pixels in the photometric error map and thus prevents misleading the networks. With this outlier masking approach, the depth of objects moving in the opposite direction to the camera can be estimated more accurately. To the best of our knowledge, such scenarios have not been seriously considered in the previous works, even though they pose a higher risk in applications like autonomous driving. We also propose an efficient weighted multi-scale scheme to reduce the artifacts in the predicted depth maps. Extensive experiments on the KITTI dataset show the effectiveness of the proposed approaches. The overall system achieves state-of-theart performance on both depth and ego-motion estimation.
Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics applications,multiple views of a scene may or may not be available, depend-ing on the actions of the robot, switching between monocularand multi-view reconstruction. To address this mixed setting,we proposed a new approach that extends any off-the-shelfself-supervised monocular depth reconstruction system to usemore than one image at test time. Our method builds on astandard prior learned to perform monocular reconstruction,but uses self-supervision at test time to further improve thereconstruction accuracy when multiple images are available.When used to update the correct components of the model, thisapproach is highly-effective. On the standard KITTI bench-mark, our self-supervised method consistently outperformsall the previous methods with an average 25% reduction inabsolute error for the three common setups (monocular, stereoand monocular+stereo), and comes very close in accuracy whencompared to the fully-supervised state-of-the-art methods.
Previous methods on estimating detailed human depth often require supervised training with `ground truth depth data. This paper presents a self-supervised method that can be trained on YouTube videos without known depth, which makes training data collection simple and improves the generalization of the learned network. The self-supervised learning is achieved by minimizing a photo-consistency loss, which is evaluated between a video frame and its neighboring frames warped according to the estimated depth and the 3D non-rigid motion of the human body. To solve this non-rigid motion, we first estimate a rough SMPL model at each video frame and compute the non-rigid body motion accordingly, which enables self-supervised learning on estimating the shape details. Experiments demonstrate that our method enjoys better generalization and performs much better on data in the wild.
Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in geometric image reconstruction. More significantly, due to lack of proper constraints, networks output scale-inconsistent results over different samples, i.e., the ego-motion network cannot provide full camera trajectories over a long video sequence because of the per-frame scale ambiguity. This paper tackles these challenges by proposing a geometry consistency loss for scale-consistent predictions and an induced self-discovered mask for handling moving objects and occlusions. Since we do not leverage multi-task learning like recent works, our framework is much simpler and more efficient. Comprehensive evaluation results demonstrate that our depth estimator achieves the state-of-the-art performance on the KITTI dataset. Moreover, we show that our ego-motion network is able to predict a globally scale-consistent camera trajectory for long video sequences, and the resulting visual odometry accuracy is competitive with the recent model that is trained using stereo videos. To the best of our knowledge, this is the first work to show that deep networks trained using unlabelled monocular videos can predict globally scale-consistent camera trajectories over a long video sequence.
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