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Road-aware Monocular Structure from Motion and Homography Estimation
The Depth-CNN and Pose-CNN estimate dense depth map and ego-motion respectively, solving SFM, while the Pose-CNN and Ground-CNN followed by a homography layer solve the ground plane estimation problem.
Monocular Road Planar Parallax Estimation
It implies planar parallax and can be combined with the road plane serving as a reference to estimate the 3D structure by warping the consecutive frames.
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