{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/depth-from-videos-in-the-wild-unsupervised","title":"Depth from Videos in the Wild: Unsupervised Monocular Depth Learning from Unknown Cameras","arxiv_id":"1904.04998","date":"2019-04-10","proceeding":"ICCV 2019 10","authors":["Ariel Gordon","Hanhan Li","Rico Jonschkowski","Anelia Angelova"],"abstract":"We present a novel method for simultaneous learning of depth, egomotion,\nobject motion, and camera intrinsics from monocular videos, using only\nconsistency across neighboring video frames as supervision signal. Similarly to\nprior work, our method learns by applying differentiable warping to frames and\ncomparing the result to adjacent ones, but it provides several improvements: We\naddress occlusions geometrically and differentiably, directly using the depth\nmaps as predicted during training. We introduce randomized layer normalization,\na novel powerful regularizer, and we account for object motion relative to the\nscene. To the best of our knowledge, our work is the first to learn the camera\nintrinsic parameters, including lens distortion, from video in an unsupervised\nmanner, thereby allowing us to extract accurate depth and motion from arbitrary\nvideos of unknown origin at scale. We evaluate our results on the Cityscapes,\nKITTI and EuRoC datasets, establishing new state of the art on depth prediction\nand odometry, and demonstrate qualitatively that depth prediction can be\nlearned from a collection of YouTube videos.","url_abs":"http://arxiv.org/abs/1904.04998v1","url_pdf":"http://arxiv.org/pdf/1904.04998v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"depth-from-videos-in-the-wild-unsupervised","repo_url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"depth-from-videos-in-the-wild-unsupervised","repo_url":"https://github.com/go125/depth_from_video_in_the_wild","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok"}},{"paper_slug":"depth-from-videos-in-the-wild-unsupervised","repo_url":"https://github.com/google-research/google-research/tree/master/depth_from_video_in_the_wild","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null},{"paper_slug":"depth-from-videos-in-the-wild-unsupervised","repo_url":"https://github.com/robot-love/depth_from_video_in_the_wild","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok"}}],"tasks":[{"task_slug":"depth-estimation","task_name":"Depth Estimation"},{"task_slug":"depth-prediction","task_name":"Depth Prediction"},{"task_slug":"monocular-depth-estimation","task_name":"Monocular Depth Estimation"},{"task_slug":"unsupervised-monocular-depth-estimation","task_name":"Unsupervised Monocular Depth Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1904.04998","atlas_url":"https://app.syntology.ai/?focus=1904.04998","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1904.04998"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/google-research/google-research/tree/master/depth_from_video_in_the_wild","reach":null},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/go125/depth_from_video_in_the_wild","reach":{"status":"ok"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/robot-love/depth_from_video_in_the_wild","reach":{"status":"ok"}}],"summary":{"ran":3,"unverified":1},"by_repo_kind":{"listed":{"samples":4,"ran":3,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"92c1d59cbecbd998","entry":"is_a_file","repo":"bolianchen/pytorch_depth_from_videos_in_the_wild","repo_kind":"listed","path":"lib/data_iterators.py","file_url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild/blob/HEAD/lib/data_iterators.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"92c1d59cbecbd998"}},{"code_sha256_prefix":"332a1ab65ab9e5a1","entry":"normalize_image","repo":"bolianchen/pytorch_depth_from_videos_in_the_wild","repo_kind":"listed","path":"lib/img_processing.py","file_url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild/blob/HEAD/lib/img_processing.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"332a1ab65ab9e5a1"}},{"code_sha256_prefix":"4f047514ddaad505","entry":"normalize_trans","repo":"bolianchen/pytorch_depth_from_videos_in_the_wild","repo_kind":"listed","path":"lib/img_processing.py","file_url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild/blob/HEAD/lib/img_processing.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"4f047514ddaad505"}},{"code_sha256_prefix":"5be810d0039e8c5b","entry":"image_resize","repo":"bolianchen/pytorch_depth_from_videos_in_the_wild","repo_kind":"listed","path":"lib/img_processing.py","file_url":"https://github.com/bolianchen/pytorch_depth_from_videos_in_the_wild/blob/HEAD/lib/img_processing.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"5be810d0039e8c5b"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}