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IEBins: Iterative Elastic Bins for Monocular Depth Estimation (2309.14137v1)

Published 25 Sep 2023 in cs.CV

Abstract: Monocular depth estimation (MDE) is a fundamental topic of geometric computer vision and a core technique for many downstream applications. Recently, several methods reframe the MDE as a classification-regression problem where a linear combination of probabilistic distribution and bin centers is used to predict depth. In this paper, we propose a novel concept of iterative elastic bins (IEBins) for the classification-regression-based MDE. The proposed IEBins aims to search for high-quality depth by progressively optimizing the search range, which involves multiple stages and each stage performs a finer-grained depth search in the target bin on top of its previous stage. To alleviate the possible error accumulation during the iterative process, we utilize a novel elastic target bin to replace the original target bin, the width of which is adjusted elastically based on the depth uncertainty. Furthermore, we develop a dedicated framework composed of a feature extractor and an iterative optimizer that has powerful temporal context modeling capabilities benefiting from the GRU-based architecture. Extensive experiments on the KITTI, NYU-Depth-v2 and SUN RGB-D datasets demonstrate that the proposed method surpasses prior state-of-the-art competitors. The source code is publicly available at https://github.com/ShuweiShao/IEBins.

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Citations (26)
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Summary

  • The paper introduces an iterative method using elastic bins to progressively refine depth predictions and mitigate error accumulation.
  • It leverages a Swin-Transformer-based encoder-decoder and GRU-based optimizer, achieving improved metrics on datasets like KITTI, NYU-Depth-v2, and SUN RGB-D.
  • The approach demonstrates computational efficiency and strong zero-shot generalization, making it promising for real-world depth estimation applications.

Insights into Iterative Elastic Bins for Monocular Depth Estimation

The paper "IEBins: Iterative Elastic Bins for Monocular Depth Estimation" explores advancements in the field of Monocular Depth Estimation (MDE), refining the approach of framing MDE as a classification-regression problem. The authors propose a novel methodology termed Iterative Elastic Bins (IEBins), which enhances the granularity of depth estimation by progressively optimizing the search range through multiple iterative stages.

Central to the IEBins framework is the concept of iteratively refining depth predictions by adapting the search range and employing elastic bins to mitigate error accumulation. Each stage refines the depth estimation based on the target bin from the previous stage, adjusting the width of the bins elastically according to depth uncertainty. This innovative approach enables high precision in depth measurements by continually honing in on the most probable depth values without significant error propagation.

The proposed IEBins mechanism is supported by a robust framework comprising a feature extractor and an iterative optimizer. The feature extractor utilizes a Swin-Transformer-based encoder-decoder structure with skip-connections. Meanwhile, a Gated Recurrent Unit (GRU)-based iterative optimizer facilitates the refinement process by leveraging temporal context and the probabilistic distribution of depth candidates.

Quantitative evaluations on prominent datasets such as KITTI, NYU-Depth-v2, and SUN RGB-D demonstrate the superior performance of the proposed method over existing state-of-the-art approaches. Detailed experimental results highlight the efficacy of the IEBins strategy in improving metrics such as absolute relative error (Abs Rel), root mean squared error (RMSE), and threshold accuracies. Furthermore, the method shows strong generalization capabilities in a zero-shot setting, particularly on the SUN RGB-D dataset when trained on NYU-Depth-v2, underscoring its robustness and potential for real-world applications.

The paper also discusses the implications of these advancements in practical and theoretical contexts. The IEBins methodology positions itself as a versatile component that can be incorporated into various frameworks, providing a strong baseline for depth estimation tasks. The iterative refinement mechanism aligns well with the goals of improving accuracy and reliability in depth estimation, particularly in high stakes applications such as autonomous driving and 3D scene reconstruction.

In addition to its robust performance, the proposed method exercises computational efficiency, with fewer parameters and faster inference times compared to contemporary approaches. This makes IEBins a feasible option for deployment in scenarios where computational resources may be limited.

However, the authors acknowledge potential limitations related to boundary preservation due to the classification-regression framework. Future endeavors may explore additional direct supervision signals on the probabilistic distribution to ameliorate boundary distinctions.

In conclusion, the IEBins approach advances the field of MDE by introducing an innovative method for depth refinement through elastic binning and iterative optimization. Its validated superiority in accuracy and efficiency offers noteworthy potential for a range of applications in computer vision. With further refinements, this method holds promise for broader applicability and sophistication in depth perception tasks.

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GitHub

  1. GitHub - ShuweiShao/IEBins: [NeurIPS2023] IEBins: Iterative Elastic Bins for Monocular Depth Estimation (87 stars)