Direct method unsupervised monocular image scene depth estimation method

The invention discloses a direct method unsupervised monocular image scene depth estimation method, which belongs to the field of computer vision and depth estimation, and comprises the following steps of: constructing a neural network; calculating an image re-projection error; and calculating an image mask and updating the pose of the camera. According to the method, the defects that monocular image depth estimation is high in environment requirement, prone to being interfered by a low texture area, poor in camera pose estimation precision and the like are overcome. A traditional monocular depth estimation problem is combined with a visual odometer, so that the depth estimation precision is remarkably improved, and the method has an auxiliary effect on positioning and navigation of a moving vehicle. The method has the advantages of being high in precision, high in flexibility, wide in application range and the like, can be used for surrounding environment perception, collision prevention and positioning navi