Joint Unsupervised Learning of Depth, Pose, Ground Normal Vector and Ground Segmentation by a Monocular Camera Sensor

Joint Unsupervised Learning of Depth, Pose, Ground Normal Vector and Ground Segmentation by a Monocular Camera Sensor

We propose a completely unsupervised approach to simultaneously estimate scene depth, ego-pose, ground segmentation and ground normal vector from only monocular RGB video sequences. In our approach, estimation for different scene structures can mutually benefit each other by the joint optimization....

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Bibliographic Details
Main Authors: Lu Xiong, Yongkun Wen, Yuyao Huang, Junqiao Zhao, Wei Tian
Format: Article
Language:English
Published: MDPI AG 2020-07-01
Series:Sensors
Subjects:
unsupervised learning
scene depth
ego-motion
ground segmentation
ground normal vector
Online Access:https://www.mdpi.com/1424-8220/20/13/3737

Internet

https://www.mdpi.com/1424-8220/20/13/3737

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