We consider image classification with estimated depth. This problem falls into the domain of transfer learning, since we are using a model trained on a set of depth images to generate depth maps (additional features) for use in another classification problem using another disjoint set of images. It's challenging as no direct depth information is provided. Though depth estimation has been well studied, none have attempted to aid image classification with estimated depth. Therefore, we present a way of transferring domain knowledge on depth estimation to a separate image classification task over a disjoint set of train, and test data. We build a RGBD dataset based on RGB dataset and do image classification on it. Then evaluation the performance of neural networks on the RGBD dataset compared to the RGB dataset. From our experiments, the benefit is significant with shallow and deep networks. It improves ResNet-20 by 0.55 and ResNet-56 by 0.53 . Our code and dataset are available publicly.
CNN have been applied with great success for object classification @cite_11 @cite_8 @cite_0 @cite_17 @cite_15 and detection @cite_14 @cite_9 @cite_12 . CNN have recently been applied to a variety of other tasks, like depth estimation. Depth estimation from single image is well addressed by Liu al @cite_5 and Eigen al @cite_19 . They both agree that depth estimation is an ill-posed problem, since there's no real ground truth depth map. We define transfer learning accuracy metric for depth estimation model (). It becomes easier to compare performance of different depth estimation model.
@cite_11 @cite_14 @cite_8 @cite_9 @cite_0 @cite_19 @cite_5 @cite_15 @cite_12 @cite_17
2797505984 2790104265 2963911235 2343077198
A lot of progress has been made to solve the depth estimation problem in stereo vision. Though, a very satisfactory performance is observed by utilizing the deep learning in supervised manner for depth estimation. This approach needs huge amount of ground truth training data as well as depth maps which is very laborious to prepare and many times it is not available in real scenario. Thus, the unsupervised depth estimation is the recent trend by utilizing the binocular stereo images to get rid of depth map ground truth. In unsupervised depth computation, the disparity images are generated by training the CNN with an image reconstruction loss based on the epipolar geometry constraints. The effective way of using CNN as well as investigating the better losses for the said problem needs to be addressed. In this paper, a dual CNN based model is presented for unsupervised depth estimation with 6 losses (DNM6) with individual CNN for each view to generate the corresponding disparity map. The proposed dual CNN model is also extended with 12 losses (DNM12) by utilizing the cross disparities. The presented DNM6 and DNM12 models are experimented over KITTI driving and Cityscapes urban database and compared with the recent state-of-the-art result of unsupervised depth estimation. This paper considers the problem of single image depth estimation. The employment of convolutional neural networks (CNNs) has recently brought about significant advancements in the research of this problem. However, most existing methods suffer from loss of spatial resolution in the estimated depth maps; a typical symptom is distorted and blurry reconstruction of object boundaries. In this paper, toward more accurate estimation with a focus on depth maps with higher spatial resolution, we propose two improvements to existing approaches. One is about the strategy of fusing features extracted at different scales, for which we propose an improved network architecture consisting of four modules: an encoder, decoder, multi-scale feature fusion module, and refinement module. The other is about loss functions for measuring inference errors used in training. We show that three loss terms, which measure errors in depth, gradients and surface normals, respectively, contribute to improvement of accuracy in an complementary fashion. Experimental results show that these two improvements enable to attain higher accuracy than the current state-of-the-arts, which is given by finer resolution reconstruction, for example, with small objects and object boundaries. This paper considers the problem of single image depth estimation. The employment of convolutional neural networks (CNNs) has recently brought about significant advancements in the research of this problem. However, most existing methods suffer from loss of spatial resolution in the estimated depth maps; a typical symptom is distorted and blurry reconstruction of object boundaries. In this paper, toward more accurate estimation with a focus on depth maps with higher spatial resolution, we propose two improvements to existing approaches. One is about the strategy of fusing features extracted at different scales, for which we propose an improved network architecture consisting of four modules: an encoder, decoder, multi-scale feature fusion module, and refinement module. The other is about loss functions for measuring inference errors used in training. We show that three loss terms, which measure errors in depth, gradients and surface normals, respectively, contribute to improvement of accuracy in an complementary fashion. Experimental results show that these two improvements enable to attain higher accuracy than the current state-of-the-arts, which is given by finer resolution reconstruction, for example, with small objects and object boundaries. Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple tasks. These networks are typically trained independently for each task by varying the output layer(s) and training objective. In this work we present a new model for simultaneous depth estimation and semantic segmentation from a single RGB image. Our approach demonstrates the feasibility of training parts of the model for each task and then fine tuning the full, combined model on both tasks simultaneously using a single loss function. Furthermore we couple the deep CNN with fully connected CRF, which captures the contextual relationships and interactions between the semantic and depth cues improving the accuracy of the final results. The proposed model is trained and evaluated on NYUDepth V2 dataset outperforming the state of the art methods on semantic segmentation and achieving comparable results on the task of depth estimation.