Scale-aware self-supervised monocular depth with sparse radar supervision

Abstract

Systems and methods are provided for training a depth model to recover scale factor for self-supervised depth estimation in monocular images. Examples include deriving a depth map for an image based on a depth model. The depth map comprises depth values for pixels of the image. A first scale for the image can be estimated based on the depth values, and depth data captured by a range sensor can be received. The depth data comprises a point cloud comprising depth measures. A second scale for the point cloud can be determined based on the depth measures and a scale factor can be determined based the second scale and the first scale. The depth model can be updated based on the scale factor, wherein the depth model generates metrically accurate depth estimates based on the scale factor.