Cross-Modality depth Estimation via Unsupervised Stereo RGB-to-infrared Translation

Abstract

Existing depth estimation methods infer scene depth only from stereo visible light (RGB) images. Since RGB imaging is sensitive to changes in light, it’s difficult to estimate depth information accurately in some degraded visibility conditions. In contrast, infrared (IR) imaging captures thermal radiation and is not affected by brightness changing, providing extra clues for depth estimation. However, most datasets used for training in depth estimation do not have IR images paired with RGB-D data. Therefore, how to obtain the paired IR images and exploit the respective advantages of RGB and IR images to improve the performance of depth estimation, is of vital importance. Our core idea is to first develop an unsupervised RGB-to-IR translation (RIT) network with proposed Fourier domain adaptation and multi-space warping regularization to synthesize stereo IR images from their corresponding stereo RGB images. And then modified depth estimation backbones can be used as the cross-modality depth estimation (CDE) network to infer disparity maps from cross-modal RGB-IR stereo pairs. Assisted by the synthetic stereo IR images, we obtain superior performance just by flexibly deploying our framework to several off-the-shelf depth estimation backbones of single-modality (RGB) based methods.