Towards Better Generalization: Joint Depth-Pose Learning without PoseNet

CVPR 2020 Wang ZhaoShaohui LiuYezhi ShuYong-Jin Liu

In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning. Most existing methods assume that a consistent scale of depth and pose can be learned across all input samples, which makes the learning problem harder, resulting in degraded performance and limited generalization in indoor environments and long-sequence visual odometry application... (read more)

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