Résumé: Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be available. Instead, in this paper, we propose a domain adaptation approach to train a monocular depth estimation model using a fully-annotated source dataset and a non-annotated target dataset. We bridge the domain gap by leveraging semantic predictions and low-level edge features to provide guidance for the target domain. We enforce consistency between the main model and a second model trained with semantic segmentation and edge maps, and introduce priors in the form of instance heights.

Langue: Anglais