At present, deep learning has been applied more and more in monocular image depth estimation and has shown promising results. The current more ideal method for monocular depth estimation is the supervised learning based on ground truth depth, but this method requires an abundance of expensive ground truth depth as the supervised labels. Therefore, researchers began to work on unsupervised depth estimation methods. Although the accuracy of unsupervised depth estimation method is still lower than that of supervised method, it is a promising research direction. In this paper, Based on the experimental results that the stereo matching models outperforms monocular depth estimation models under the same unsupervised depth estimation model, we proposed an unsupervised monocular vision stereo matching method. In order to achieve the monocular stereo matching, we constructed two unsupervised deep convolution network models, one was to reconstruct the right view from the left view, and the other was to estimate the depth map using the reconstructed right view and the original left view. The two network models are piped together during the test phase. The output results of this method outperforms the current mainstream unsupervised depth estimation method in the challenging KITTI dataset.
Due to the rise of robotics and virtual reality, depth evaluation has undoubtedly become one of the most popular research points at present. Because machine learning or deep learning has better performance than traditional methods, more and more researchers has applied this methods to depth evaluation and some research results have been achieved. Here we would focus on works related to stereo matching @cite_27 and monocular depth evaluation @cite_31 with machine learning or depth learning, and no assumptions about the scene geometry or types of objects present are made.
@cite_27 @cite_31
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In the past year, convolutional neural networks have been shown to perform extremely well for stereo estimation. However, current architectures rely on siamese networks which exploit concatenation followed by further processing layers, requiring a minute of GPU computation per image pair. In contrast, in this paper we propose a matching network which is able to produce very accurate results in less than a second of GPU computation. Towards this goal, we exploit a product layer which simply computes the inner product between the two representations of a siamese architecture. We train our network by treating the problem as multi-class classification, where the classes are all possible disparities. This allows us to get calibrated scores, which result in much better matching performance when compared to existing approaches. We consider the task of 3-d depth estimation from a single still image. We take a supervised learning approach to this problem, in which we begin by collecting a training set of monocular images (of unstructured indoor and outdoor environments which include forests, sidewalks, trees, buildings, etc.) and their corresponding ground-truth depthmaps. Then, we apply supervised learning to predict the value of the depthmap as a function of the image. Depth estimation is a challenging problem, since local features alone are insufficient to estimate depth at a point, and one needs to consider the global context of the image. Our model uses a hierarchical, multiscale Markov Random Field (MRF) that incorporates multiscale local- and global-image features, and models the depths and the relation between depths at different points in the image. We show that, even on unstructured scenes, our algorithm is frequently able to recover fairly accurate depthmaps. We further propose a model that incorporates both monocular cues and stereo (triangulation) cues, to obtain significantly more accurate depth estimates than is possible using either monocular or stereo cues alone.