research-article

Self-Supervised Learning of Depth and Ego-Motion for 3D Perception in Human Computer Interaction

Authors:

Xiaoyan JiangAuthors Info & Claims

ACM Transactions on Multimedia Computing, Communications and Applications, Volume 20, Issue 2

Article No.: 45, Pages 1 - 21

https://doi.org/10.1145/3588571

Published: 25 September 2023 Publication History

Abstract

3D perception of depth and ego-motion is of vital importance in intelligent agent and Human Computer Interaction (HCI) tasks, such as robotics and autonomous driving. There are different kinds of sensors that can directly obtain 3D depth information. However, the commonly used Lidar sensor is expensive, and the effective range of RGB-D cameras is limited. In the field of computer vision, researchers have done a lot of work on 3D perception. While traditional geometric algorithms require a lot of manual features for depth estimation, Deep Learning methods have achieved great success in this field. In this work, we proposed a novel self-supervised method based on Vision Transformer (ViT) with Convolutional Neural Network (CNN) architecture, which is referred to as ViT-Depth. The image reconstruction losses computed by the estimated depth and motion between adjacent frames are treated as supervision signal to establish a self-supervised learning pipeline. This is an effective solution for tasks that need accurate and low-cost 3D perception, such as autonomous driving, robotic navigation, 3D reconstruction, and so on. Our method could leverage both the ability of CNN and Transformer to extract deep features and capture global contextual information. In addition, we propose a cross-frame loss that could constrain photometric error and scale consistency among multi-frames, which lead the training process to be more stable and improve the performance. Extensive experimental results on autonomous driving dataset demonstrate the proposed approach is competitive with the state-of-the-art depth and motion estimation methods.

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Cited By

Lu JGao YChen JHwang JFujita HFang Z(2024)Monocular Depth and Ego-motion Estimation with Scale Based on Superpixel and Normal ConstraintsACM Transactions on Multimedia Computing, Communications, and Applications10.1145/3674977Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3674977
Han CLv CKou QJiang HCheng D(2024)DCL-depth: monocular depth estimation network based on iam and depth consistency lossMultimedia Tools and Applications10.1007/s11042-024-18877-7Online publication date: 25-Mar-2024
https://doi.org/10.1007/s11042-024-18877-7
Zhou YZhang CDeng LFu JLi HXu ZZhang J(2024)Resolution-sensitive self-supervised monocular absolute depth estimationApplied Intelligence10.1007/s10489-024-05414-054:6(4781-4793)Online publication date: 5-Apr-2024
https://doi.org/10.1007/s10489-024-05414-0

Index Terms

Self-Supervised Learning of Depth and Ego-Motion for 3D Perception in Human Computer Interaction
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision tasks

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cover image ACM Transactions on Multimedia Computing, Communications, and Applications

ACM Transactions on Multimedia Computing, Communications, and Applications Volume 20, Issue 2

February 2024

548 pages

ISSN:1551-6857

EISSN:1551-6865

DOI:10.1145/3613570

Editor:
Abdulmotaleb El Saddik
Mohamed Bin Zayed University of Artificial Intelligence, UAE and University of Ottawa, Canada

Issue’s Table of Contents

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 September 2023

Online AM: 23 March 2023

Accepted: 15 March 2023

Revised: 07 December 2022

Received: 10 November 2021

Published in TOMM Volume 20, Issue 2

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National Natural Science Foundation of China
Shanghai Local Capacity Enhancement
Science and Technology Innovation Action Plan
Shanghai Science and Technology Commission
Chenguang talented program of Shanghai

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Cited By

Lu JGao YChen JHwang JFujita HFang Z(2024)Monocular Depth and Ego-motion Estimation with Scale Based on Superpixel and Normal ConstraintsACM Transactions on Multimedia Computing, Communications, and Applications10.1145/3674977Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3674977
Han CLv CKou QJiang HCheng D(2024)DCL-depth: monocular depth estimation network based on iam and depth consistency lossMultimedia Tools and Applications10.1007/s11042-024-18877-7Online publication date: 25-Mar-2024
https://doi.org/10.1007/s11042-024-18877-7
Zhou YZhang CDeng LFu JLi HXu ZZhang J(2024)Resolution-sensitive self-supervised monocular absolute depth estimationApplied Intelligence10.1007/s10489-024-05414-054:6(4781-4793)Online publication date: 5-Apr-2024
https://doi.org/10.1007/s10489-024-05414-0

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