{"id":12251,"date":"2023-01-31T10:33:41","date_gmt":"2023-01-31T02:33:41","guid":{"rendered":"http:\/\/139.9.1.231\/?p=12251"},"modified":"2023-01-31T10:33:43","modified_gmt":"2023-01-31T02:33:43","slug":"elf-supervised-monocular-depth-estimation","status":"publish","type":"post","link":"http:\/\/139.9.1.231\/index.php\/2023\/01\/31\/elf-supervised-monocular-depth-estimation\/","title":{"rendered":"\u5355\u76ee\u56fe\u50cf\u6df1\u5ea6\u4f30\u8ba1 &#8211; \u81ea\u76d1\u7763\u65b9\u6cd5"},"content":{"rendered":"\n<p>        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      \u5f88\u806a\u660e\uff0c\u4e0d\u540c\u4f5c\u7528\u7684\u7f51\u7edc\u76f8\u5f53\u4e8e\u4eba\u4e3a\u7684\u7279\u5f81\u63d0\u53d6\u8fc7\u7a0b\uff0c\u6700\u540e\u7684\u9884\u6d4b\u57fa\u4e8e\u8fd9\u4e2a\u4eba\u4e3a\u7684\u7279\u5f81\u63d0\u53d6\u7ed3\u679c\uff0c\u4f46\u8fd9\u79cd\u65b9\u6cd5\u4e5f\u6709\u5176\u7f3a\u70b9\uff0c\u6211\u80fd\u60f3\u5230\u7684\u5c31\u662f\u53c2\u6570\u7684\u589e\u52a0\uff0c\u7f51\u7edc\u7ed3\u6784\u7684\u590d\u6742\u5316\u548c\u4eba\u4e3a\u7279\u5f81\u5bf9\u6700\u7ec8\u9884\u6d4b\u7ed3\u679c\u6709\u6ca1\u6709\u8d77\u5f15\u5bfc\u4f5c\u7528\u53ea\u80fd\u7528\u5b9e\u9a8c\u53bb\u8bc1\u660e\u3002<\/p>\n\n\n\n<p>        <strong>\u8be6\u7ec6\u8bf4\u5462\uff0c\u9996\u5148\uff0c\u6240\u8c13\u7684\u201c\u81ea\u76d1\u7763\u201d\u867d\u7136\u4e0d\u9700\u8981\u8f93\u5165\u771f\u5b9e\u6df1\u5ea6\u4fe1\u606f\uff0c\u4f46\u9700\u8981\u8f93\u5165\u53cc\u76ee\u6444\u50cf\u5934\u83b7\u53d6\u5230\u7684\u540c\u4e00\u65f6\u523b\u4e0d\u540c\u89d2\u5ea6\u7684\u56fe\u50cf\u6216\u8005\u524d\u540e\u5e27\u56fe\u50cf\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-light-pink-background-color has-background\"><em><strong>\u81ea\u76d1\u7763\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u5305\u62ec\uff1a \u57fa\u4e8e\u53cc\u76ee\u8bad\u7ec3\u7684\u65e0\u76d1\u7763\u6a21\u578b  \u548c  \u57fa\u4e8e\u89c6\u9891\u5e8f\u5217\u7684\u65e0\u76d1\u7763\u6a21\u578b<\/strong><\/em><\/p>\n\n\n\n<h3>\u57fa\u4e8e\u53cc\u76ee\u8bad\u7ec3\u7684\u65e0\u76d1\u7763\u6a21\u578b:<\/h3>\n\n\n\n<p class=\"has-text-align-center has-light-pink-background-color has-background\"><strong><em><a href=\"https:\/\/arxiv.org\/abs\/1609.03677\" target=\"_blank\" rel=\"noreferrer noopener\">UnSupervised Monocular Depth Estimation with Left-Right Consistency<\/a><\/em>, CVPR, 2017<\/strong><\/p>\n\n\n\n<p>         \u5b66\u4e60\u65b9\u6cd5\u5728\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u4e0a\u9762\u6709\u6bd4\u8f83\u597d\u7684\u7ed3\u679c\u4e86\uff0c\u4f46\u8fd8\u628a\u6df1\u5ea6\u4f30\u8ba1\u95ee\u9898\u4f5c\u4e3a\u4e00\u4e2a\u6709\u76d1\u7763\u7684\u56de\u5f52\u95ee\u9898\u3002\u6240\u4ee5\u9700\u8981\u5927\u91cf\u76f8\u5bf9\u5e94\u7684ground truth\u7528\u6765\u8bad\u7ec3\u3002\u8bb0\u5f55\u6709\u8d28\u91cf\u7684\u5404\u79cd\u573a\u666f\u7684\u6df1\u5ea6\u4fe1\u606f\u662f\u4e00\u4e2a\u6bd4\u8f83\u96be\u7684\u4e8b\u60c5\u3002\u4f5c\u8005\u505a\u4e86\u4e00\u4e2a\u65b0\u65b9\u6cd5\uff0c\u66ff\u4ee3\u4e86\u73b0\u5728\u76f4\u63a5\u7528\u6df1\u5ea6\u56fe\u6570\u636e\u8bad\u7ec3\u3002\u8fd9\u4e2a\u65b9\u6cd5\u662f\u7528\u5bb9\u6613\u83b7\u5f97\u7684\u53cc\u76ee\u7acb\u4f53\u89c6\u89c9\u7684\u89d2\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"830\" height=\"669\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-89.png\" alt=\"\" class=\"wp-image-12273\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-89.png 830w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-89-300x242.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-89-768x619.png 768w\" sizes=\"(max-width: 830px) 100vw, 830px\" \/><\/figure>\n\n\n\n<p>       \u4f5c\u8005\u63d0\u51fa\u4e86\u5168\u65b0\u7684\u8bad\u7ec3\u51fd\u6570\u76ee\u6807\u51fd\u6570\uff0c\u53ef\u4ee5\u8ba9\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u5b66\u4e60\u5230\u6df1\u5ea6\u4f30\u8ba1\uff0c\u867d\u7136\u6ca1\u6709\u6df1\u5ea6\u4fe1\u606f\u7684ground truth\u3002\u5229\u7528\u4e00\u4e9b\u5bf9\u6781\u51e0\u4f55\u7ea6\u675f\uff0c\u4f5c\u8005\u4ea7\u751f\u4e86\u89c6\u5dee\u635f\u5931\u3002\u8fd8\u53d1\u73b0\u53ea\u7528\u56fe\u50cf\u91cd\u5efa\u7ed3\u679c\u4f1a\u4ea7\u751f\u4f4e\u8d28\u91cf\u7684\u6df1\u5ea6\u56fe\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u56f0\u96be\uff0c\u4f5c\u8005\u6784\u5efa\u4e86\u4e00\u4e2a\u65b0\u9896\u7684\u8bad\u7ec3\u635f\u5931\uff0c\u53ef\u4ee5\u52a0\u5f3a\u5de6\u53f3\u89c6\u5dee\u56fe\u7684\u4e00\u81f4\u6027\uff0c\u8fd9\u6837\u80fd\u591f\u63d0\u5347\u6027\u80fd\u548c\u9c81\u68d2\u6027\u3002\u4f5c\u8005\u7684\u65b9\u6cd5\u5728KITTI\u6570\u636e\u96c6\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u4e0a\u8fbe\u5230\u4e86state-of-the-art\uff0c\u8d85\u8fc7\u7528ground-truth\u6df1\u5ea6\u8bad\u7ec3\u7684\u6709\u76d1\u7763\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"989\" height=\"480\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-88.png\" alt=\"\" class=\"wp-image-12272\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-88.png 989w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-88-300x146.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-88-768x373.png 768w\" sizes=\"(max-width: 989px) 100vw, 989px\" \/><\/figure>\n\n\n\n<h3>\u57fa\u4e8e\u89c6\u9891\u5e8f\u5217\u7684\u65e0\u76d1\u7763\u6a21\u578b:<\/h3>\n\n\n\n<p class=\"has-text-align-center has-light-pink-background-color has-background\"><strong><a href=\"https:\/\/arxiv.org\/abs\/1704.07813\" target=\"_blank\" rel=\"noreferrer noopener\">UnSupervised Learning of Depth and Ego-Motion from Video<\/a>\uff0cCVPR\uff0c2017<\/strong><\/p>\n\n\n\n<p>\u8fd9\u7bc7\u6587\u7ae0\u63d0\u51fa\u4e86\u4e00\u79cd\u975e\u76d1\u7763\u7684\u591a\u529f\u80fd\u7f51\u7edc\uff0c\u4e3b\u8981\u601d\u60f3\u5c31\u50cf\u4e4b\u524d\u63d0\u5230\u8fc7\u7684\u7528\u4e00\u4e2aloss\u540c\u65f6\u8bad\u7ec3\u4e24\u4e2a\u7f51\u7edc\u3002\u7f51\u7edc\u7684\u7ed3\u679c\u5982\u56fe,\u5176\u4e2d\u7b2c\u4e00\u4e2a\u7f51\u7edc\u53ef\u63a5\u53d7\u4e00\u5e45\u56fe\u7247\u4f5c\u4e3a\u8f93\u5165\uff0c\u8f93\u51fa\u5176\u5bf9\u5e94\u7684\u6df1\u5ea6\u56fe\u7247\uff1b\u7b2c\u4e8c\u4e2a\u7f51\u7edc\u4e3a\u59ff\u6001\u7f51\u7edc\uff0c\u63a5\u53d7t\uff0ct+1\u548ct-1\u4e09\u4e2a\u65f6\u523b\u4e09\u5e45\u56fe\u7247\u4f5c\u4e3a\u8f93\u5165\uff0c\u8f93\u51fa\u4ecet\u5230t+1\u548c\u4ecet\u5230t-1\u7684\u76f8\u673a\u59ff\u6001\u53d8\u5316\u77e9\u9635\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"894\" height=\"571\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-91.png\" alt=\"\" class=\"wp-image-12283\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-91.png 894w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-91-300x192.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-91-768x491.png 768w\" sizes=\"(max-width: 894px) 100vw, 894px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"868\" height=\"114\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-92.png\" alt=\"\" class=\"wp-image-12284\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-92.png 868w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-92-300x39.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-92-768x101.png 768w\" sizes=\"(max-width: 868px) 100vw, 868px\" \/><\/figure>\n\n\n\n<p>\u8f93\u5165\u4e3a\u524d\u4e2d\u540e\u4e09\u5e27\u8fde\u7eed\u7684\u56fe\u7247\uff0c\u540c\u65f6\u8bad\u7ec3\u4e24\u4e2a\u7f51\u7edc\uff0c\u4e00\u4e2a\u5f97\u5230\u6df1\u5ea6\u9884\u6d4b\u7ed3\u679c\uff0c\u4e00\u4e2a\u5f97\u5230\u89c6\u5dee\u77e9\u9635\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"822\" height=\"425\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-90.png\" alt=\"\" class=\"wp-image-12281\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-90.png 822w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-90-300x155.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-90-768x397.png 768w\" sizes=\"(max-width: 822px) 100vw, 822px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-text-align-center has-light-pink-background-color has-background\"><strong>[ICCV 2019]<\/strong> <strong><a href=\"https:\/\/github.com\/nianticlabs\/monodepth2\" target=\"_blank\" rel=\"noreferrer noopener\">Digging into Self-Supervised Monocular Depth Prediction<\/a><\/strong><\/p>\n\n\n\n<p>         \u76ee\u524d\u81ea\u76d1\u7763\u6df1\u5ea6\u5b66\u4e60\u53d6\u5f97\u6700\u597d\u8fdb\u5c55\u7684\u5730\u65b9\uff0c\u4e00\u822c\u8bf4\u6765\u81ea\u76d1\u7763\u4e0d\u9700\u8981\u6807\u6ce8\uff0c\u4f7f\u7528\u5185\u5728\u51e0\u4f55\uff08\u901a\u5e38\u662f\u591a\u89c6\u56fe\u51e0\u4f55\uff09\u5173\u7cfb\u76d1\u7763\u5b66\u4e60\uff0c\u4ece\u53e6\u4e00\u4e2a\u4fa7\u9762\u8bf4\u660e3d\u89c6\u89c9\u624d\u662f\u89c6\u89c9\u7684\u672c\u8d28\u3002<\/p>\n\n\n\n<p>\u8fd9\u7bc7\u6587\u7ae0\u4e2d\u7684\u4f5c\u8005\u5f00\u53d1\u4e86\u4e00\u79cd\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528\u6df1\u5ea6\u4f30\u8ba1\u548c\u59ff\u6001\u4f30\u8ba1\u7f51\u7edc\u7684\u7ec4\u5408\u6765\u9884\u6d4b\u5355\u5e27\u56fe\u50cf\u4e2d\u7684\u6df1\u5ea6\u3002 \u5b83\u901a\u8fc7\u5728\u4e00\u7cfb\u5217\u8fd0\u52a8\u7684\u56fe\u50cf\uff08\u5305\u62ec\u5355\u76ee\u548c\u53cc\u76ee\uff09\u5e8f\u5217\u4e0a\u8bad\u7ec3\u4e00\u4e2a\u5efa\u7acb\u5728\u81ea\u76d1\u7763\u635f\u5931\u51fd\u6570\u4e0a\u7684\u67b6\u6784\u6765\u5b9e\u73b0,<strong>\u8fd9\u4e00\u67b6\u6784\u5305\u62ec\u4e24\u4e2a\u7f51\u7edc,\u4e00\u4e2a\u7528\u6765\u5728\u5355\u76ee\u56fe\u50cf\u4e0a\u9884\u6d4b\u6df1\u5ea6,\u53e6\u4e00\u4e2a\u5728\u8fd0\u52a8\u56fe\u50cf\u4e4b\u95f4\u9884\u6d4b\u59ff\u6001\u3002 \u6b64\u65b9\u6cd5\u4e0d\u9700\u8981\u6807\u6ce8\u8bad\u7ec3\u6570\u636e\u96c6\u3002 \u76f8\u53cd\uff0c\u5b83\u4f7f\u7528\u56fe\u50cf\u5e8f\u5217\u4e2d\u7684\u8fde\u7eed\u65f6\u95f4\u5e27\u548c\u59ff\u6001\u7684\u91cd\u6295\u5f71\u5173\u7cfb\u6765\u8fdb\u884c\u8bad\u7ec3\u3002<\/strong> \u7a0d\u540e\u5c06\u66f4\u8be6\u7ec6\u5730\u63cf\u8ff0\u91cd\u5efa\u8fc7\u7a0b\u3002 \u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u662f\uff1a<\/p>\n\n\n\n<p class=\"has-light-pink-background-color has-background\">1.\u4e00\u79cd\u81ea\u52a8mask\u6280\u672f\uff0c\u53ef\u6d88\u9664loss\u5bf9\u4e0d\u91cd\u8981\u50cf\u7d20\u7684\u6ce8\u610f\u529b\uff0c\u51cf\u5c11\u5b83\u4eec\u7684\u5f71\u54cd<\/p>\n\n\n\n<p class=\"has-light-pink-background-color has-background\">2.\u7528\u6df1\u5ea6\u56fe\u4fee\u6b63\u5149\u5ea6\u91cd\u5efa\u8bef\u5dee<\/p>\n\n\n\n<p class=\"has-light-pink-background-color has-background\">3.\u591a\u5c3a\u5ea6\u6df1\u5ea6\u4f30\u8ba1<\/p>\n\n\n\n<p><strong>\u6a21\u578b\u67b6\u6784<\/strong>\uff1a\u672c\u6587\u7684\u65b9\u6cd5\u4f7f\u7528\u6df1\u5ea6\u7f51\u7edc\u548c\u59ff\u6001\u7f51\u7edc\u3002 \u6df1\u5ea6\u7f51\u7edc\u662f\u7ecf\u5178\u7684U-Net [2]\u7f16\u7801\u5668-\u89e3\u7801\u5668\u6a21\u578b\u7ed3\u6784\u3002 \u7f16\u7801\u5668\u662f\u7ecf\u8fc7\u9884\u8bad\u7ec3\u7684ResNet\u6a21\u578b\uff0c\u5f53\u7136\u4e5f\u53ef\u4ee5\u8003\u8651\u5176\u4ed6\u6a21\u578b\u3002 \u6df1\u5ea6\u89e3\u7801\u5668\u5c06\u8f93\u51fa\u8f6c\u6362\u4e3a\u6df1\u5ea6\u503c\u3002\u4f5c\u8005\u4f7f\u7528\u57fa\u4e8eResNet18\u7684\u59ff\u52bf\u7f51\u7edc\uff0c\u8be5\u59ff\u6001\u7f51\u7edc\u7ecf\u8fc7\u4fee\u6539\u540e\uff0c\u53ef\u4ee5\u4f7f\u7528\u4e24\u4e2a\u5f69\u8272\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\u6765\u9884\u6d4b\u5355\u4e2a6\u81ea\u7531\u5ea6\u76f8\u5bf9\u59ff\u52bf\u6216\u65cb\u8f6c\u548c\u5e73\u79fb\u53c2\u6570\u3002 \u59ff\u52bf\u7f51\u7edc\u4f7f\u7528\u524d\u540e\u4e24\u5e27\u800c\u4e0d\u662f\u5178\u578b\u7684\u7acb\u4f53\u56fe\u50cf\u5bf9\u4f5c\u4e3a\u56fe\u50cf\u5bf9\u8f93\u5165\u3002 \u5b83\u53ef\u4ee5\u4ece\u5e8f\u5217\u4e2d\u7684\u524d\u4e00\u5e27\u548c\u540e\u4e00\u5e27\u901a\u8fc7\u89d2\u5ea6\u9884\u6d4b\u76ee\u6807\u56fe\u50cf\u7684\u5916\u89c2\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"385\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-93-1024x385.png\" alt=\"\" class=\"wp-image-12293\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-93-1024x385.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-93-300x113.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-93-768x289.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2023\/01\/image-93.png 1502w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\uff1a\u4e0b\u56fe\u8bf4\u660e\u4e86\u6a21\u578b\u7684\u8bad\u7ec3\u8fc7\u7a0b\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic4.zhimg.com\/v2-ead8f48c6883bc88ff9965a636a1112f_r.jpg\" alt=\"\"\/><figcaption>\u53ef\u4ee5\u540c\u65f6\u4f7f\u7528\u8fd0\u52a8\u81ea\u76d1\u7763\u548c\u53cc\u76ee\u81ea\u76d1\u7763<\/figcaption><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p><strong>\u5149\u5ea6\u91cd\u5efa\u8bef\u5dee<\/strong>\uff1a\u76ee\u6807\u56fe\u50cf\u4f4d\u4e8e\u7b2c0\u5e27\uff0c\u5e76\u4e14\u7528\u4e8e\u59ff\u6001\u4f30\u8ba1\u8fc7\u7a0b\u7684\u56fe\u50cf\u53ef\u4ee5\u662f\u524d\u4e00\u5e27\u6216\u540e\u4e00\u5e27\uff0c\u4e5f\u5c31\u662f\u5e27+1\u6216\u5e27-1\u3002\u8be5\u635f\u5931\u662f\u57fa\u4e8e\u76ee\u6807\u56fe\u50cf\u548c\u91cd\u5efa\u7684\u76ee\u6807\u56fe\u50cf\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u3002\u91cd\u5efa\u8fc7\u7a0b\u901a\u8fc7\u4f7f\u7528\u59ff\u6001\u7f51\u7edc\u4ece\u6e90\u5e27\uff08\u5e27+1\u6216\u5e27-1\uff09\u8ba1\u7b97\u8f6c\u6362\u77e9\u9635\u5f00\u59cb\u3002\u7136\u540e\u4f7f\u7528\u65cb\u8f6c\u548c\u5e73\u79fb\u7684\u4fe1\u606f\u6765\u8ba1\u7b97\u4ece\u6e90\u5e27\u5230\u76ee\u6807\u5e27\u7684\u6620\u5c04\u3002\u6700\u540e\u4f7f\u7528\u4ece\u6df1\u5ea6\u7f51\u7edc\u9884\u6d4b\u7684\u76ee\u6807\u56fe\u50cf\u7684\u6df1\u5ea6\u56fe\u548c\u4ece\u59ff\u52bf\u7f51\u7edc\u8f6c\u6362\u7684\u77e9\u9635\uff0c\u5c06\u5176\u6295\u5f71\u5230\u5177\u6709\u56fa\u6709\u5185\u53c2\u77e9\u9635K\u7684\u6444\u50cf\u673a\u4e2d\uff0c\u4ee5\u83b7\u53d6\u91cd\u5efa\u7684\u76ee\u6807\u56fe\u50cf\u3002\u6b64\u8fc7\u7a0b\u9700\u8981\u5148\u5c06\u6df1\u5ea6\u56fe\u8f6c\u6362\u4e3a3D\u70b9\u4e91\uff0c\u901a\u8fc7\u59ff\u6001\u5c06\u70b9\u4e91\u8f6c\u6362\u5230\u53e6\u4e00\u4e2a\u5750\u6807\u7cfb\u540e\u518d\u4f7f\u7528\u76f8\u673a\u5185\u53c2\u5c063D\u70b9\u8f6c\u6362\u4e3a2D\u70b9\u3002\u6240\u5f97\u7684\u70b9\u7528\u4f5c\u4ece\u76ee\u6807\u56fe\u50cf\u8fdb\u884c\u53cc\u7ebf\u6027\u63d2\u503c\u7684\u91c7\u6837\u7f51\u683c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-96dea352a6ed00c11c8bb0087cad8a25_r.jpg\" alt=\"\"\/><figcaption>\u5149\u5ea6\u91cd\u5efa\u8bef\u5dee\uff0cssim\u662f\u7ecf\u5e38\u7528\u5728\u56fe\u50cf\u76f8\u4f3c\u5ea6\u91cc\u7684\u5ea6\u91cf<\/figcaption><\/figure>\n\n\n\n<p>\u8fd9\u79cdloss\u7684\u76ee\u7684\u662f\u51cf\u5c11\u76ee\u6807\u56fe\u50cf\u548c\u91cd\u5efa\u7684\u76ee\u6807\u56fe\u50cf\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u5728\u76ee\u6807\u56fe\u50cf\u548c\u91cd\u5efa\u7684\u76ee\u6807\u56fe\u50cf\u4e2d\uff0c\u59ff\u6001\u548c\u6df1\u5ea6\u4f30\u8ba1\u7684\u8fc7\u7a0b\u4e2d\u90fd\u9700\u8981\u4f7f\u7528\u5b83\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8mask<\/strong>\uff1a\u6700\u7ec8\u7684\u5149\u5ea6\u91cd\u5efa\u8bef\u5dee\u8981\u4e58\u4ee5\u4e00\u4e2amask\uff0c\u8be5mask\u89e3\u51b3\u4e0e\u5047\u8bbe\u76f8\u673a\u5728\u9759\u6001\u573a\u666f\uff08\u4f8b\u5982\u9759\u6001\u573a\u666f\uff09\u4e2d\u79fb\u52a8\u7684\u53d8\u5316\u6709\u5173\u7684\u95ee\u9898\u3002\u5c24\u5176\u662f \u4e00\u4e2a\u7269\u4f53\u6b63\u5728\u4ee5\u4e0e\u76f8\u673a\u76f8\u4f3c\u7684\u901f\u5ea6\u79fb\u52a8\uff0c\u6216\u8005\u5728\u5176\u4ed6\u7269\u4f53\u6b63\u5728\u79fb\u52a8\u65f6\u7167\u76f8\u673a\u5df2\u505c\u6b62\uff0c\u4e5f\u5c31\u662f\u90a3\u4e9b\u5728\u76f8\u673a\u5750\u6807\u7cfb\u91cc\u9759\u6b62\u7684\u7269\u4f53\u3002 \u8fd9\u4e9b\u76f8\u5bf9\u9759\u6b62\u7684\u7269\u4f53\u7406\u8bba\u4e0a\u5e94\u8be5\u6709\u65e0\u7a77\u5927\u7684\u6df1\u5ea6\u3002 \u4f5c\u8005\u4f7f\u7528\u4e00\u79cd\u81ea\u52a8mask\u65b9\u6cd5\u89e3\u51b3\u4e86\u8fd9\u4e00\u95ee\u9898\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u8fc7\u6ee4\u4e0d\u4f1a\u5c06\u5916\u89c2\u4ece\u4e00\u5e27\u66f4\u6539\u4e3a\u4e0b\u4e00\u5e27\u7684\u50cf\u7d20\uff0c\u4e5f\u5c31\u662f\u90a3\u4e9b\u548c\u76f8\u673a\u540c\u6b65\u8fd0\u52a8\u7684\u50cf\u7d20\u3002 mask\u662f\u4e8c\u8fdb\u5236\u7684\uff0c\u5982\u679c\u76ee\u6807\u56fe\u50cf\u548c\u91cd\u5efa\u7684\u76ee\u6807\u56fe\u50cf\u4e4b\u95f4\u7684\u6700\u5c0f\u5149\u5ea6\u8bef\u5dee\u5c0f\u4e8e\u76ee\u6807\u56fe\u50cf\u548c\u6e90\u56fe\u50cf\u7684\u6700\u5c0f\u5149\u5ea6\u8bef\u5dee\uff0c\u5219\u4e3a1\uff0c\u5426\u5219\u4e3a0\u3002<\/p>\n\n\n\n<p>\u5f53\u76f8\u673a\u662f\u9759\u6b62\u7684\u65f6\uff0c\u8fd9\u79cd\u65b9\u6cd5\u4f1a\u56fe\u50cf\u4e2d\u7684\u6240\u6709\u50cf\u7d20\u90fd\u88ab\u63a9\u76d6\uff08\u5b9e\u9645\u573a\u666f\u4e2d\u6982\u7387\u5f88\u4f4e\uff09\u3002 \u5f53\u7269\u4f53\u4ee5\u4e0e\u7167\u76f8\u673a\u76f8\u540c\u7684\u901f\u5ea6\u79fb\u52a8\u65f6\uff0c\u4f1a\u5bfc\u81f4\u56fe\u50cf\u4e2d\u9759\u6b62\u7269\u4f53\u7684\u50cf\u7d20\u88ab\u63a9\u76d6\u3002<\/p>\n\n\n\n<p><strong>\u591a\u5c3a\u5ea6\u4f30\u8ba1<\/strong>\uff1a\u4f5c\u8005\u5c06\u5404\u4e2a\u5c3a\u5ea6\u7684\u635f\u5931\u5408\u5e76\u5728\u4e00\u8d77\u3002 \u5c06\u8f83\u4f4e\u5206\u8fa8\u7387\u7684\u6df1\u5ea6\u56fe\u4e0a\u91c7\u6837\u5230\u8f83\u9ad8\u7684\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\uff0c\u7136\u540e\u5728\u8f83\u9ad8\u7684\u8f93\u5165\u5206\u8fa8\u7387\u4e0b\u91cd\u65b0\u6295\u5f71\uff0c\u91cd\u65b0\u91c7\u6837\u5e76\u8ba1\u7b97\u5149\u5ea6\u8bef\u5dee\u3002 \u4f5c\u8005\u58f0\u79f0\uff0c\u8fd9\u4f7f\u5f97\u5404\u4e2a\u6bd4\u4f8b\u5c3a\u4e0a\u7684\u6df1\u5ea6\u56fe\u4ee5\u5b9e\u73b0\u76f8\u540c\u7684\u76ee\u6807\uff0c\u5373\u5bf9\u76ee\u6807\u56fe\u50cf\u8fdb\u884c\u7cbe\u786e\u7684\u9ad8\u5206\u8fa8\u7387\u91cd\u5efa\u3002<\/p>\n\n\n\n<p><strong>\u5176\u4ed6\u5f62\u5f0f\u7684loss<\/strong>\uff1a\u4f5c\u8005\u52a0\u5165\u4e86\u5e73\u5747\u5f52\u4e00\u5316\u7684\u9006\u6df1\u5ea6\u56fe\u503c\u548c\u8f93\u5165\/\u76ee\u6807\u56fe\u50cf\u4e4b\u95f4\u7684\u8fb9\u7f18\u654f\u611f\u7684\u5e73\u6ed1\u5ea6\u635f\u5931\u3002 \u8fd9\u9f13\u52b1\u6a21\u578b\u5b66\u4e60\u5c16\u9510\u7684\u8fb9\u7f18\u5e76\u6d88\u9664\u566a\u58f0\u3002<\/p>\n\n\n\n<p class=\"has-text-align-center has-light-pink-background-color has-background\"><strong><a href=\"https:\/\/arxiv.org\/abs\/1811.06152\" target=\"_blank\" rel=\"noreferrer noopener\">Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos<\/a><\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\">\u9879\u76ee\u5730\u5740\uff1a<a href=\"https:\/\/sites.google.com\/view\/struct2depth\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/sites.google.com\/view\/struct2depth<\/a><\/p>\n\n\n\n<p>\u76ee\u6807\u8fd0\u52a8\u5efa\u6a21\uff1a\u6765\u81eaGoogle\u5927\u8111\u7684\u4f5c\u8005\u53d1\u8868\u4e86\u8be5\u6587\u7ae0\uff0c\u8be5\u6587\u7ae0\u8fdb\u4e00\u6b65\u6269\u5c55\u4e86Monodepth2\u3002 \u5b83\u4eec\u901a\u8fc7\u9884\u6d4b\u5355\u4e2a\u76ee\u6807\u800c\u4e0d\u662f\u6574\u4e2a\u56fe\u50cf\u7684\u8fd0\u52a8\u6765\u6539\u5584\u59ff\u6001\u7f51\u7edc\u4f30\u8ba1\u3002 \u56e0\u6b64\uff0c\u73b0\u5728\u91cd\u5efa\u7684\u56fe\u50cf\u5e8f\u5217\u4e0d\u518d\u662f\u5355\u4e2a\u6295\u5f71\uff0c\u800c\u662f\u7ec4\u5408\u5728\u4e00\u8d77\u7684\u4e00\u7cfb\u5217\u76ee\u6807\u7684\u6295\u5f71\u3002 \u8fd9\u901a\u8fc7\u4e24\u4e2a\u6a21\u578b\u4e00\u4e2a\u76ee\u6807\u8fd0\u52a8\u6a21\u578b\u548c\u4e00\u4e2a\u76f8\u673a\u8fd0\u52a8\u4f30\u8ba1\u7f51\u7edc\uff08\u7c7b\u4f3c\u4e8e\u524d\u9762\u51e0\u8282\u4e2d\u63cf\u8ff0\u7684\u59ff\u6001\u7f51\u7edc\uff09\u6765\u505a\u5230\u3002 \u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1.\u9884\u8bad\u7ec3\u7684MASK-RCNN [2]\u6a21\u578b\u7528\u4e8e\u6355\u83b7\u6f5c\u5728\u79fb\u52a8\u76ee\u6807\u7684\u8bed\u4e49\u5206\u5272\u3002<\/p>\n\n\n\n<p>2.\u4f7f\u7528\u4e8c\u8fdb\u5236\u63a9\u7801\u4ece\u9759\u6001\u56fe\u50cf\uff08\u5e27-1\uff0c\u5e270\u548c\u5e27+1\uff09\u4e2d\u5220\u9664\u8fd9\u4e9b\u53ef\u80fd\u79fb\u52a8\u7684\u5bf9\u8c61<\/p>\n\n\n\n<p>3.\u88ab\u63a9\u76d6\u7684\u56fe\u50cf\u88ab\u53d1\u9001\u5230ego-motion\uff08\u76f8\u673a\u81ea\u8eab\u8fd0\u52a8\uff09\u7f51\u7edc\uff0c\u5e76\u8f93\u51fa\u5e27-1\u548c0\u4e0e\u5e270\u548c+1\u4e4b\u95f4\u7684\u8f6c\u6362\u77e9\u9635\u3002<\/p>\n\n\n\n<p>4.mask\u8fc7\u7a0b\u53ef\u63d0\u53d6\u9759\u6001\u80cc\u666f\uff0c\u7136\u540e\u63d0\u53d6ego-motion\u8f6c\u6362\u77e9\u9635\uff0c\u800c\u65e0\u9700\u79fb\u52a8\u5bf9\u8c61\u3002 \u4f7f\u7528\u6765\u81ea[3]\u7684\u65b9\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/imgconvert.csdnimg.cn\/aHR0cDovL2ltYWdlLmltcm9ib3RpYy5jb20vbmV3cy9kYXRhL2FydGljbGUvMjAxOTEwMTcvMTU3MTI3Nzk4NDUxMTgucG5n?x-oss-process=image\/format,png\" alt=\"\"\/><figcaption>\u906e\u7f69\u8fc7\u7a0b\u53ef\u63d0\u53d6\u9759\u6001\u80cc\u666f\uff0c\u7136\u540e\u63d0\u53d6\u81ea\u6211\u8fd0\u52a8\u8f6c\u6362\u77e9\u9635\uff0c\u800c\u65e0\u9700\u79fb\u52a8\u5bf9\u8c61\u3002<\/figcaption><\/figure>\n\n\n\n<p>\u5177\u4f53\u64cd\u4f5c\u65f6\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9<\/p>\n\n\n\n<p>1.\u4f7f\u7528\u4e4b\u524d\u6b65\u9aa43\u4e2d\u4ea7\u751f\u7684\u76f8\u673a\u8fd0\u52a8\u8f6c\u6362\u77e9\u9635\uff0c\u5e76\u5c06\u5176\u5e94\u7528\u4e8e\u5e27-1\u548c\u5e27+1\uff0c\u7528\u8fd9\u4e2a\u77e9\u9635\u6765\u53d8\u6362\u5e270\u3002<\/p>\n\n\n\n<p>2.\u4f7f\u7528\u4ece\u6b65\u9aa43\u5f97\u5230\u7684\u76f8\u673a\u8fd0\u52a8\u53d8\u6362\u77e9\u9635\uff0c\u5e76\u5c06\u5176\u5e94\u7528\u4e8e\u53ef\u80fd\u79fb\u52a8\u7684\u5bf9\u8c61\u7684\u5206\u5272mask\u5230\u5e27-1\u548c\u5e27+1\uff0c\u4ee5\u83b7\u53d6\u6bcf\u4e2a\u76ee\u6807\u76f8\u5f53\u4e8e\u5e270\u7684\u5f62\u53d8\u540e\u7684\u5206\u5272mask\u3002<\/p>\n\n\n\n<p>3.\u4e8c\u8fdb\u5236\u63a9\u7801\u7528\u4e8e\u4fdd\u6301\u4e0e\u53d8\u5f62\u5206\u5272\u63a9\u7801\u5173\u8054\u7684\u50cf\u7d20\u3002<\/p>\n\n\n\n<p>4.mask\u56fe\u50cf\u4e0e\u53d8\u5f62\u56fe\u50cf\u7ec4\u5408\u5728\u4e00\u8d77\uff0c\u5e76\u4f20\u9012\u5230\u76ee\u6807\u8fd0\u52a8\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u8f93\u51fa\u9884\u6d4b\u7684\u5bf9\u8c61\u8fd0\u52a8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/imgconvert.csdnimg.cn\/aHR0cDovL2ltYWdlLmltcm9ib3RpYy5jb20vbmV3cy9kYXRhL2FydGljbGUvMjAxOTEwMTcvMTU3MTI3ODAwNjk3NjYucG5n?x-oss-process=image\/format,png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7ed3\u679c\u663e\u793a\u5fc5\u987b\u77e5\u9053\u76f8\u673a\u5fc5\u5982\u4f55\u8fd0\u52a8\u624d\u80fd\u201c\u89e3\u91ca\u201d\u5bf9\u8c61\u5916\u89c2\u7684\u53d8\u5316\u3002 \u7136\u540e\uff0c\u8981\u6839\u636e\u76ee\u6807\u8fd0\u52a8\u5efa\u6a21\u8fc7\u7a0b\u7684\u6b65\u9aa44\u4e2d\u751f\u6210\u7684\u8fd0\u52a8\u6a21\u578b\u6765\u79fb\u52a8\u5bf9\u8c61\u3002 \u6700\u540e\uff0c\u5c06\u5f62\u53d8\u540e\u7684\u5bf9\u76ee\u6807\u8fd0\u52a8\u4e0e\u5f62\u53d8\u540e\u7684\u9759\u6001\u80cc\u666f\u7ed3\u5408\u8d77\u6765\uff0c\u4ee5\u83b7\u5f97\u6700\u7ec8\u7684\u5f62\u53d8\u56fe\u50cf\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic1.zhimg.com\/v2-cbde09eacc70358ef8993c468a7c3e0c_r.jpg\" alt=\"\"\/><figcaption>\u6574\u4f53\u67b6\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u5b66\u4e60\u76ee\u6807\u5c3a\u5ea6\uff1a\u867d\u7136Monodepth2\u901a\u8fc7\u5176\u81ea\u52a8mask\u6280\u672f\u89e3\u51b3\u4e86\u9759\u6001\u7269\u4f53\u6216\u4ee5\u4e0e\u7167\u76f8\u673a\u76f8\u540c\u901f\u5ea6\u79fb\u52a8\u7684\u7269\u4f53\u7684\u95ee\u9898\uff0c\u4f46struct2 depth\u4f5c\u8005\u8fd8\u662f\u5efa\u8bae\u5bf9\u6a21\u578b\u8fdb\u884c\u7ea6\u675f\uff0c\u4ee5\u8bc6\u522b\u7269\u4f53\u7684\u6bd4\u4f8b\uff0c\u4ece\u800c\u6539\u5584\u7269\u4f53\u8fd0\u52a8\u7684\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-6e84625173692cdf60f2d898496b83a9_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u5bf9\u8c61\u7684\u7c7b\u522b\uff08\u4f8b\u5982\u697c\u623f\uff09\u5b9a\u4e49\u6bcf\u4e2a\u5bf9\u8c61\u7684\u6bd4\u4f8bloss\uff0c\u65e8\u5728\u57fa\u4e8e\u5bf9\u8c61\u6bd4\u4f8b\u7684\u77e5\u8bc6\u6765\u9650\u5236\u6df1\u5ea6\u3002 loss\u662f\u56fe\u50cf\u4e2d\u5bf9\u8c61\u7684\u8f93\u51fa\u6df1\u5ea6\u56fe\u4e0e\u901a\u8fc7\u4f7f\u7528\u76f8\u673a\u7684\u7126\u8ddd\uff0c\u57fa\u4e8e\u5bf9\u8c61\u7c7b\u522b\u7684\u5148\u9a8c\u9ad8\u5ea6\u548c\u56fe\u50cf\u4e2d\u5206\u5272\u540e\u7684\u5bf9\u8c61\u7684\u5b9e\u9645\u9ad8\u5ea6\u8ba1\u7b97\u51fa\u7684\u8fd1\u4f3c\u6df1\u5ea6\u56fe\u4e4b\u95f4\u7684\u5dee \uff0c\u4e24\u8005\u5747\u6309\u76ee\u6807\u56fe\u7247\u7684\u5e73\u5747\u6df1\u5ea6\u8fdb\u884c\u7f29\u653e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fd1\u51e0\u5e74\u6709\u5173\u5355\u76ee\u56fe\u50cf\u6df1\u5ea6\u8bc6\u522b\u7684\u7b97\u6cd5\u4ee5CNN\u4e3a\u4e3b\u6d41\uff0c\u66f4\u7ec6\u7684\u8bf4\u662f\u4ee5\u65e0\u76d1\u7763\u7684\u540c\u65f6\u5bf9\u6df1\u5ea6\u3001\u8ba1\u7b97\u673a\u89d2\u5ea6\u3001\u5149\u6d41\u7b49\u540c\u65f6\u8ba1\u7b97\u7684\u7aef &hellip; <a href=\"http:\/\/139.9.1.231\/index.php\/2023\/01\/31\/elf-supervised-monocular-depth-estimation\/\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">\u5355\u76ee\u56fe\u50cf\u6df1\u5ea6\u4f30\u8ba1 &#8211; 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