Method and device for learning depth estimation based on view synthesis

Abstract

A method for controlling autonomous driving of a vehicle is introduced. The method may comprise, training, based on an inference depth and an inference pose, a synthetic image model for generating a synthetic image, generating, based on the synthetic image, a first virtual image to be associated with the original image, generating, based on the original image, a second virtual image, training a generative adversarial network (GAN) for determining, based on the original image, authenticity of the first virtual image and the second virtual image, training, based on the trained GAN, a depth network, wherein the trained GAN outputs a determination of the authenticity of the first virtual image, outputting, based on the trained depth network, signal, and controlling, based on the signal, autonomous driving of the vehicle.