PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation
Noriaki Hirose Satoshi Koide Keisuke Kawano Ruho Kondo Noriaki Hirose Satoshi Koide Keisuke Kawano Ruho Kondo
We propose a novel objective for penalizing geometric inconsistencies and improving the depth and pose estimation performance of monocular camera images. Our objective is designed using the Wasserstein distance between two point clouds, estimated from images with different camera poses. The Wasserstein distance can impose a soft and symmetric coupling between two point clouds, which suitably maint...