Depth estimation device, depth estimation model learning device, depth estimation method, depth estimation model learning method, and depth estimation program

Abstract

An acquiring unit of a depth estimation apparatus acquires an input image. In addition, a depth map generating unit inputs the input image acquired by the acquiring unit into a depth estimator for generating, from an image, a depth map in which a depth of a space that appears on the image is imparted to each pixel of the image, and generates an estimated depth map that represents a depth map corresponding to the input image. The depth estimator is a model having been learned in advance so as to reduce, with respect to each error between a depth of the estimated depth map and a depth of a correct-answer depth map that presents the depth map of a correct answer, a value of a loss function set such that a degree of increase of a loss value with respect to a pixel at which the error is larger than a threshold is smaller than a degree of increase of a loss value with respect to a pixel at which the error is equal to or smaller than the threshold.