Depth estimation for autonomous devices

Abstract

Systems, methods, tangible non-transitory computer-readable media, and devices associated with depth estimation are provided. For example, a feature representation associated with stereo images including a first and second plurality of points can be accessed. Sparse disparity estimates associated with disparities between the first and second plurality of points can be determined. The sparse disparity estimates can be based on machine-learned models that estimate disparities based on comparisons of the first plurality of points to the second plurality of points. Confidence ranges associated with the disparities between the first and second plurality of points can be determined based on the sparse disparity estimates and the machine-learned models. A disparity map for the stereo images can be generated based on using the confidence ranges and machine-learned models to prune the disparities outside the confidence ranges. Furthermore, three-dimensional depth estimates associated with the stereo images can be generated based on the disparity map.