A Deep Joint Network for Monocular Depth Estimation Based on Pseudo-Depth Supervision

Abstract

Depth estimation from a single image is a significant task. Although deep learning methods hold great promise in this area, they still face a number of challenges, including the limited modeling of nonlocal dependencies, lack of effective loss function joint optimization models, and difficulty in accurately estimating object edges. In order to further increase the network’s prediction accuracy, a new structure and training method are proposed for single-image depth estimation in this research. A pseudo-depth network is first deployed for generating a single-image depth prior, and by constructing connecting paths between multi-scale local features using the proposed up-mapping and jumping modules, the network can integrate representations and recover fine details. A deep network is also designed to capture and convey global context by utilizing the Transformer Conv module and Unet Depth net to extract and refine global features. The two networks jointly provide meaningful coarse and fine features to predict high-quality depth images from single RGB images. In addition, multiple joint losses are utilized to enhance the training model. A series of experiments are carried out to confirm and demonstrate the efficacy of our method. The proposed method exceeds the advanced method DPT by 10% and 3.3% in terms of root mean square error (RMSE(log)) and 1.7% and 1.6% in terms of squared relative difference (SRD), respectively, according to experimental results on the NYU Depth V2 and KITTI depth estimation benchmarks.