Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation
Hemang Chawla Arnav Varma Elahe Arani Bahram Zonooz Hemang Chawla Arnav Varma Elahe Arani Bahram Zonooz
Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously copresent global positioning systems (GPS), we tackle this challenge by proposing a dynamically-weighted GPS-to-Scale (g2s) loss to complement the appearance-base...