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arXiv 2004.04345cs.CVeess.IV

Masked GANs for Unsupervised Depth and Pose Prediction with Scale Consistency

East China University of Science and Technology(华东理工大学);Oklahoma State University(俄克拉荷马州立大学)

Chaoqiang Zhao, Gary G. Yen, Qiyu Sun, Chongzhen Zhang, Yang Tang

英文摘要:

Previous work has shown that adversarial learning can be used for unsupervised monocular depth and visual odometry (VO) estimation, in which the adversarial loss and the geometric image reconstruction loss are utilized as the mainly supervisory signals to train the whole unsupervised framework. However, the performance of the adversarial framework and image reconstruction is usually limited by occlusions and the visual field changes between frames. This paper proposes a masked generative adversarial network (GAN) for unsupervised monocular depth and ego-motion estimation.The MaskNet and Boolean mask scheme are designed in this framework to eliminate the effects of occlusions and impacts of visual field changes on the reconstruction loss and adversarial loss, respectively. Furthermore, we also consider the scale consistency of our pose network by utilizing a new scale-consistency loss, and therefore, our pose network is capable of providing the full camera trajectory over a long monocular sequence. Extensive experiments on the KITTI dataset show that each component proposed in this paper contributes to the performance, and both our depth and trajectory predictions achieve competitive performance on the KITTI and Make3D datasets.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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