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• W3132430191 abstract "Given stereo or egomotion image pairs, a popular and successful method for unsupervised learning of monocular depth estimation is to measure the quality of image reconstructions resulting from the learned depth predictions. Continued research has improved the overall approach in recent years, yet the common framework still suffers from several important limitations, particularly when dealing with points occluded after transformation to a novel viewpoint. While prior work has addressed this problem heuristically, this paper introduces a z-buffering algorithm that correctly and efficiently handles occluded points. Because our algorithm is implemented with operators typical of machine learning libraries, it can be incorporated into any existing unsupervised depth learning framework with automatic support for differentiation. Additionally, because points having negative depth after transformation often signify erroneously shallow depth predictions, we introduce a loss function to penalize this undesirable behavior explicitly. Experimental results on the KITTI data set show that the z-buffer and negative depth loss both improve the performance of a state of the art depth-prediction network." @default.
• W3132430191 created "2021-03-01" @default.
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• W3132430191 date "2021-02-17" @default.
• W3132430191 modified "2023-09-27" @default.
• W3132430191 title "Improved Point Transformation Methods For Self-Supervised Depth Prediction" @default.
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• W3132430191 doi "https://doi.org/10.48550/arxiv.2102.09142" @default.
• W3132430191 hasPublicationYear "2021" @default.
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