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DELTAS: Depth Estimation by Learning Triangulation and Densification of Sparse Points

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Computer Vision – ECCV 2020 (ECCV 2020)

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Abstract

Multi-view stereo (MVS) is the golden mean between the accuracy of active depth sensing and the practicality of monocular depth estimation. Cost volume based approaches employing 3D convolutional neural networks (CNNs) have considerably improved the accuracy of MVS systems. However, this accuracy comes at a high computational cost which impedes practical adoption. Distinct from cost volume approaches, we propose an efficient depth estimation approach by first (a) detecting and evaluating descriptors for interest points, then (b) learning to match and triangulate a small set of interest points, and finally (c) densifying this sparse set of 3D points using CNNs. An end-to-end network efficiently performs all three steps within a deep learning framework and trained with intermediate 2D image and 3D geometric supervision, along with depth supervision. Crucially, our first step complements pose estimation using interest point detection and descriptor learning. We demonstrate state-of-the-art results on depth estimation with lower compute for different scene lengths. Furthermore, our method generalizes to newer environments and the descriptors output by our network compare favorably to strong baselines.

J. Bartolozzi, V. Badrinarayanan and A. Rabinovich—Work done at Magic Leap.

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Author information

Authors and Affiliations

  1. Magic Leap Inc., Sunnyvale, CA, USA

    Ayan Sinha, Zak Murez & James Bartolozzi

  2. Wayve.ai, London, UK

    Vijay Badrinarayanan

  3. InsideIQ Inc., San Francisco, CA, USA

    Andrew Rabinovich

Authors
  1. Ayan Sinha
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  2. Zak Murez
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  3. James Bartolozzi
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  4. Vijay Badrinarayanan
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  5. Andrew Rabinovich
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Corresponding author

Correspondence to Ayan Sinha .

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Editors and Affiliations

  1. University of Oxford, Oxford, UK

    Andrea Vedaldi

  2. Graz University of Technology, Graz, Austria

    Horst Bischof

  3. University of Freiburg, Freiburg im Breisgau, Germany

    Thomas Brox

  4. University of North Carolina at Chapel Hill, Chapel Hill, NC, USA

    Jan-Michael Frahm

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Sinha, A., Murez, Z., Bartolozzi, J., Badrinarayanan, V., Rabinovich, A. (2020). DELTAS: Depth Estimation by Learning Triangulation and Densification of Sparse Points. In: Vedaldi, A., Bischof, H., Brox, T., Frahm, JM. (eds) Computer Vision – ECCV 2020. ECCV 2020. Lecture Notes in Computer Science(), vol 12366. Springer, Cham. https://doi.org/10.1007/978-3-030-58589-1_7

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  • DOI: https://doi.org/10.1007/978-3-030-58589-1_7

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