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arXiv 2409.19933cs.CV

CCDepth:一种具有增强可解释性的轻量级自监督深度估计网络

CCDepth: A Lightweight Self-supervised Depth Estimation Network with Enhanced Interpretability

College of Information Science and Engineering, China University of Petroleum (Beijing)(中国石油大学(北京)信息科学与工程学院);The University of Hong Kong(香港大学);Tsinghua University(清华大学);Shanghai Artificial Intelligence Laboratory(上海人工智能实验室)

Xi Zhang, Yaru Xue, Shaocheng Jia, Xin Pei

AI总结:

本文提出CCDepth,一种结合CNN与白盒CRATE模块的轻量级自监督深度估计网络,在KITTI上以更小模型规模实现与最先进方法相当的性能,并增强了可解释性。

摘要:

自监督深度估计仅需单目图像序列作为输入,近年来日益受到关注并展现出广阔前景。当前研究主要聚焦于提升模型的预测精度。然而,过多的参数量阻碍了模型在边缘设备上的普遍部署。此外,新兴的神经网络作为黑盒模型难以分析,导致在理解性能提升的机理方面面临挑战。为缓解这些问题,本研究提出了一种新型混合自监督深度估计网络CCDepth,该网络由卷积神经网络(CNNs)和白盒CRATE(编码率降低Transformer)网络组成。这种新型网络分别利用CNNs和CRATE模块提取图像中的局部和全局信息,从而提升学习效率并减小模型规模。此外,将CRATE模块融入网络使得捕获全局特征的过程具备数学上可解释性。在KITTI数据集上的大量实验表明,所提出的CCDepth网络能够取得与当前最先进方法相当的性能,同时模型规模显著减小。另外,对CCDepth网络内部特征进行的一系列定量和定性分析进一步证实了所提方法的有效性。

英文摘要:

Self-supervised depth estimation, which solely requires monocular image sequence as input, has become increasingly popular and promising in recent years. Current research primarily focuses on enhancing the prediction accuracy of the models. However, the excessive number of parameters impedes the universal deployment of the model on edge devices. Moreover, the emerging neural networks, being black-box models, are difficult to analyze, leading to challenges in understanding the rationales for performance improvements. To mitigate these issues, this study proposes a novel hybrid self-supervised depth estimation network, CCDepth, comprising convolutional neural networks (CNNs) and the white-box CRATE (Coding RAte reduction TransformEr) network. This novel network uses CNNs and the CRATE modules to extract local and global information in images, respectively, thereby boosting learning efficiency and reducing model size. Furthermore, incorporating the CRATE modules into the network enables a mathematically interpretable process in capturing global features. Extensive experiments on the KITTI dataset indicate that the proposed CCDepth network can achieve performance comparable with those state-of-the-art methods, while the model size has been significantly reduced. In addition, a series of quantitative and qualitative analyses on the inner features in the CCDepth network further confirm the effectiveness of the proposed method.

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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