When Perspective Comes for Free: Improving Depth Prediction with Camera Pose Encoding

8 Jul 2020Yunhan ZhaoShu KongCharless Fowlkes

Monocular depth prediction is a highly underdetermined problem and recent progress has relied on high-capacity CNNs to effectively learn scene statistics that disambiguate estimation. However, we observe that such models are strongly biased by the distribution of camera poses seen during training and fail to generalize to novel viewpoints, even when the scene geometry distribution remains fixed... (read more)

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