PMIndoor: Pose Rectified Network and Multiple Loss Functions for Self-Supervised Monocular Indoor Depth Estimation

Abstract

Self-supervised monocular depth estimation, which has attained remarkable progress for outdoor scenes in recent years, often faces greater challenges for indoor scenes. These challenges comprise: (i) non-textured regions: indoor scenes often contain large areas of non-textured regions, such as ceilings, walls, floors, etc., which render the widely adopted photometric loss as ambiguous for self-supervised learning; (ii) camera pose: the sensor is mounted on a moving vehicle in outdoor scenes, whereas it is handheld and moves freely in indoor scenes, which results in complex motions that pose challenges for indoor depth estimation. In this paper, we propose a novel self-supervised indoor depth estimation framework-PMIndoor that addresses these two challenges. We use multiple loss functions to constrain the depth estimation for non-textured regions. We introduce a pose rectified network that only estimates the rotation transformation between two adjacent frames of images for the camera pose problem, and improves the pose estimation results with the pose rectified network loss. We also incorporate a multi-head self-attention module in the depth estimation network to enhance the model’s accuracy. Extensive experiments are conducted on the benchmark indoor dataset NYU Depth V2, demonstrating that our method achieves excellent performance and is better than previous state-of-the-art methods.