Influence of Neural Network Receptive Field on Monocular Depth and Ego-Motion Estimation

Abstract

We present an analysis of a self-supervised learning approach for monocular depth and ego-motion estimation. This is an important problem for computer vision systems of robots, autonomous vehicles and other intelligent agents, equipped only with monocular camera sensor. We have explored a number of neural network architectures that perform single-frame depth and multi-frame camera pose predictions to minimize photometric error between consecutive frames on a sequence of camera images. Unlike other existing works, our proposed approach called ERF-SfMLearner examines the influence of the deep neural network receptive field on the performance of depth and ego-motion estimation. To do this, we study the modification of network layers with two convolution operators with extended receptive field: dilated and deformable convolutions. We demonstrate on the KITTI dataset that increasing the receptive field leads to better metrics and lower errors both in terms of depth and ego-motion estimation. Code is publicly available at github.com/linukc/ERF-SfMLearner.