Publication
Despite well-established baselines, learning of scene depth and ego-motion from monocular video remains an ongoing challenge, specifically when handling scaling ambiguity issues and depth inconsistencies in image sequences. Much prior work uses either a supervised mode of learning or stereo images. The former is limited by the amount of labeled data, as it requires expensive sensors, while the latter is not always readily available as monocular sequences. In this work, we demonstrate the benefit of using geometric information from synthetic images, coupled with scene depth information, to recover the scale in depth and ego-motion estimation from monocular videos. We developed our framework using synthetic image-depth pairs and unlabeled real monocular images. We had three training objectives: first, to use deep feature alignment to reduce the domain gap between synthetic and monocular images to yield more accurate depth estimation when presented with only real monocular images at test time. Second, we learn scene specific representation by exploiting self-supervision coming from multi-view synthetic images without the need for depth labels. Third, our method uses single-view depth and pose networks, which are capable of jointly training and supervising one another mutually, yielding consistent depth and ego-motion estimates. Extensive experiments demonstrate that our depth and ego-motion models surpass the state-of-the-art, unsupervised methods and compare favorably to early supervised deep models for geometric understanding. We validate the effectiveness of our training objectives against standard benchmarks thorough an ablation study.