平行多尺度语义深度交互融合网络用于深度估计
Chenchen Fu1, Sujunjie Sun1, Ning Wei1
1Department of Computer Science and Engineering, Southeast University, Nanjing 210000, China.
Journal of imaging
|July 25, 2025
概括
这项研究引入了一个用于自主监督深度估计的新网络,通过融合语义和深度特征来提高自动驾驶的准确性. 该方法增强了功能交互,并使用语义边缘损失来提高性能.
科学领域:
- 计算机视觉 计算机视觉
- 机器学习 机器学习
背景情况:
- 从单眼图像进行自我监督的深度估计对于自动驾驶至关重要,减少对昂贵的传感器如LiDAR的依赖.
- 目前的方法在与遮蔽,照明变化和稀疏纹理作斗争,缺乏功能增强和融合.
- 现有的方法不能充分整合语义和深度信息,以提高准确性.
研究的目的:
- 提出一个新的并行多尺度语义深度交互融合网络,以提高自我监督的深度估计.
- 解决现有方法中特征增强和相互作用融合存在的局限性.
- 在具有挑战性的驾驶场景中提高深度估计的准确性和稳定性.
主要方法:
- 利用多阶段的特征注意网络进行强大的特征提取.
- 引入了一个并行语义深度交互融合模块,以改进对象边缘和细节.
- 使用基于语义边缘的度量损失来利用几何信息.
主要成果:
- 拟议网络在KITTI数据集上表现出令人满意的表现.
- 与现有的自我监督方法相比,实现了更好的深度估计准确性.
- 语义和深度特征的融合有效地提高了边缘精细化和整体性能.
结论:
- 这种新型网络有效地整合了多个尺度的特征和语义信息,以实现卓越的自我监督深度估计.
- 拟议的方法为提高自动驾驶系统的深度感知提供了一个有希望的解决方案.
- 未来的工作可以探索进一步整合上下文信息和高级注意力机制.
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