SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation

arXiv:2404.12501v1 Announce Type: new
Abstract: Self-supervised monocular depth estimation has garnered considerable attention for its applications in autonomous driving and robotics. While recent methods have made strides in leveraging techniques like the Self Query Layer (SQL) to infer depth from motion, they often overlook the potential of strengthening pose information. In this paper, we introduce SPIdepth, a novel approach that prioritizes enhancing the pose network for improved depth estimation. Building upon the foundation laid by SQL, SPIdepth emphasizes the importance …

abstract applications arxiv attention autonomous autonomous driving cs.cv driving eess.iv information layer query robotics sql type