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arXiv · 1906.05717

Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics

Vincent Casser·Soeren Pirk·Reza Mahjourian·Anelia Angelova
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Abstract

We present an approach which takes advantage of both structure and semantics for unsupervised monocular learning of depth and ego-motion. More specifically, we model the motion of individual objects and learn their 3D motion vector jointly with depth and ego-motion. We obtain more accurate results, especially for challenging dynamic scenes not addressed by previous approaches. This is an extended version of Casser et al. [AAAI'19]. Code and models have been open sourced at https://sites.google.com/corp/view/struct2depth.

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Vincent Casser, Soeren Pirk, Reza Mahjourian, Anelia Angelova. 2019-06-12. Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics. https://arxiv.org/abs/1906.05717

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