{"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/unsupervised-monocular-depth-and-ego-motion","title":"Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics","arxiv_id":"1906.05717","date":"2019-06-12","proceeding":null,"authors":["Vincent Casser","Soeren Pirk","Reza Mahjourian","Anelia Angelova"],"abstract":"We present an approach which takes advantage of both structure and semantics for unsupervised monocular learning of depth and ego-motion. More specifically, we model the motion of individual objects and learn their 3D motion vector jointly with depth and ego-motion. We obtain more accurate results, especially for challenging dynamic scenes not addressed by previous approaches. This is an extended version of Casser et al. [AAAI'19]. Code and models have been open sourced at https://sites.google.com/corp/view/struct2depth.","url_abs":"https://arxiv.org/abs/1906.05717v1","url_pdf":"https://arxiv.org/pdf/1906.05717v1.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":[],"tasks":[{"task_slug":"depth-and-camera-motion","task_name":"Depth And Camera Motion"},{"task_slug":"depth-estimation","task_name":"Depth Estimation"},{"task_slug":"monocular-depth-estimation","task_name":"Monocular Depth Estimation"},{"task_slug":"motion-estimation","task_name":"Motion Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/monocular-depth-estimation-on-kitti-eigen-1","task":"Monocular Depth Estimation","dataset":"KITTI Eigen split unsupervised","model":"Struct2Depth M","rank_in_archive_order":55,"of":55,"metrics":{"absolute relative error":"0.1412"},"uses_additional_data":false}],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=1906.05717","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}