Improving Self-Supervised Single View Depth Estimation by Masking Occlusion
This work addresses occlusion handling in depth estimation for autonomous driving or robotics, but it is incremental as it builds on prior methods with specific modifications.
The paper tackled the problem of occlusion corrupting the supervisory signal in self-supervised single-view depth estimation from video, by introducing an occlusion mask based on predicted depth to ignore occluded regions during training, resulting in improved performance on the KITTI benchmark.
Single view depth estimation models can be trained from video footage using a self-supervised end-to-end approach with view synthesis as the supervisory signal. This is achieved with a framework that predicts depth and camera motion, with a loss based on reconstructing a target video frame from temporally adjacent frames. In this context, occlusion relates to parts of a scene that can be observed in the target frame but not in a frame used for image reconstruction. Since the image reconstruction is based on sampling from the adjacent frame, and occluded areas by definition cannot be sampled, reconstructed occluded areas corrupt to the supervisory signal. In previous work arXiv:1806.01260 occlusion is handled based on reconstruction error; at each pixel location, only the reconstruction with the lowest error is included in the loss. The current study aims to determine whether performance improvements of depth estimation models can be gained by during training only ignoring those regions that are affected by occlusion. In this work we introduce occlusion mask, a mask that during training can be used to specifically ignore regions that cannot be reconstructed due to occlusions. Occlusion mask is based entirely on predicted depth information. We introduce two novel loss formulations which incorporate the occlusion mask. The method and implementation of arXiv:1806.01260 serves as the foundation for our modifications as well as the baseline in our experiments. We demonstrate that (i) incorporating occlusion mask in the loss function improves the performance of single image depth prediction models on the KITTI benchmark. (ii) loss functions that select from reconstructions based on error are able to ignore some of the reprojection error caused by object motion.