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Mono-ViFI: A Unified Learning Framework for Self-supervised Single- and Multi-frame Monocular Depth Estimation

19 Jul 2024arXiv:2407.14126archive 2025-07-28

Jinfeng Liu, Lingtong Kong, Bo Li, Zerong Wang, Hong Gu, Jinwei Chen

Self-supervised monocular depth estimation has gathered notable interest since it can liberate training from dependency on depth annotations. In monocular video training case, recent methods only conduct view synthesis between existing camera views, leading to insufficient guidance. To tackle this, we try to synthesize more virtual camera views by flow-based video frame interpolation (VFI), termed as temporal augmentation. For multi-frame inference, to sidestep the problem of dynamic objects encountered by explicit geometry-based methods like ManyDepth, we return to the feature fusion paradigm and design a VFI-assisted multi-frame fusion module to align and aggregate multi-frame features, using motion and occlusion information obtained by the flow-based VFI model. Finally, we construct a unified self-supervised learning framework, named Mono-ViFI, to bilaterally connect single- and multi-frame depth. In this framework, spatial data augmentation through image affine transformation is incorporated for data diversity, along with a triplet depth consistency loss for regularization. The single- and multi-frame models can share weights, making our framework compact and memory-efficient. Extensive experiments demonstrate that our method can bring significant improvements to current advanced architectures. Source code is available at https://github.com/LiuJF1226/Mono-ViFI.

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compute_errors liujf1226/mono-vifi/evaluate_depth.py official repository ran MIT (permissive) · a141556f0b9d8a06 · report
disp_to_depth liujf1226/mono-vifi/layers.py official repository ran MIT (permissive) · 62287188376f0ba0 · report
flow_to_color liujf1226/mono-vifi/flow_vis.py official repository ran MIT (permissive) · c107ece01fa38df6 · report
flow_uv_to_colors liujf1226/mono-vifi/flow_vis.py official repository ran MIT (permissive) · ae9446901af6b9a8 · report
get_robust_weight liujf1226/mono-vifi/networks/IFRNet.py official repository ran fingerprinted MIT (permissive) · 4dc728d7076fe0a9 · report
get_translation_matrix liujf1226/mono-vifi/layers.py official repository ran fingerprinted MIT (permissive) · 955112f5788539a8 · report
load_velodyne_points liujf1226/mono-vifi/kitti_utils.py official repository ran MIT (permissive) · 8bfc895e86bfc7bc · report
pil_loader liujf1226/mono-vifi/datasets/mono_dataset.py official repository ran · honoured contract MIT (permissive) · 1df9a5ffd9b38c34 · report
read_calib_file liujf1226/mono-vifi/kitti_utils.py official repository ran MIT (permissive) · ff833c099a80a327 · report
resize liujf1226/mono-vifi/networks/IFRNet.py official repository ran · our draft was wrong fingerprinted MIT (permissive) · 3073f3b71dc41f8a · report
sub2ind liujf1226/mono-vifi/kitti_utils.py official repository ran MIT (permissive) · 04e9b96b63844176 · report
transformation_from_parameters liujf1226/mono-vifi/layers.py official repository ran MIT (permissive) · cdc03d6bfc4d3a34 · report
warp liujf1226/mono-vifi/networks/IFRNet.py official repository ran · fixture could not drive it fingerprinted MIT (permissive) · a4d5c37ca03cf29f · report
batch_post_process_disparity liujf1226/mono-vifi/evaluate_depth.py official repository unverified MIT (permissive) · 6e1c3c123351222b · report
load_model liujf1226/mono-vifi/evaluate_depth.py official repository unverified MIT (permissive) · 4718c67d38954a25 · report
load_model liujf1226/mono-vifi/evaluate_depth_mf.py official repository unverified MIT (permissive) · 4818f3b037653060 · report

Tasks

Data AugmentationDepth EstimationDiversityMonocular Depth EstimationSelf-Supervised LearningVideo Frame Interpolation

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