DEPTH ESTIMATION BASED ON EGO-MOTION ESTIMATION AND RESIDUAL FLOW ESTIMATION

DEPTH ESTIMATION BASED ON EGO-MOTION ESTIMATION AND RESIDUAL FLOW ESTIMATION

A method for depth estimation performed by a depth estimation system associated with an agent includes determining a first depth of a first image and a second depth of a second image, the first image and the second image being captured by a sensor associated with the agent. The method also includes...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: GAIDON, Adrien David, AMBRUS, Rares Andrei, GUIZILINI, Vitor, TANG, Jiexiong
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
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Beschreibung
Zusammenfassung:A method for depth estimation performed by a depth estimation system associated with an agent includes determining a first depth of a first image and a second depth of a second image, the first image and the second image being captured by a sensor associated with the agent. The method also includes generating a first 3D image of the first image based on the first depth, a first pose associated with the sensor, and the second image. The method further includes generating a warped depth image based on transforming the first depth in accordance with the first pose. The method also includes updating the first pose based on a second pose associated with the warped depth image and the second depth, and updating the first 3D image based on the updated first pose. The method further includes controlling an action of the agent based on the updated first 3D image.