Patent ID: 11941831
Assignee: IMPERIAL COLLEGE INNOVATIONS LIMITED
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 8:
9. A method of estimating depth for a scene captured in a first frame of video data, comprising:
generating a first depth estimate for the scene using a geometric reconstruction of the scene, wherein the geometric reconstruction is configured to output a measure of uncertainty for the first depth estimate, wherein the first depth estimate comprises a plurality of first depth estimates for the first frame of video data, at least one of the plurality of first depth estimates being generated using a second frame of video data that differs from the first frame of video data;
generating a second depth estimate for the first frame of video data using a neural network architecture, wherein the neural network architecture is configured to output a measure of uncertainty for the second depth estimate;
probabilistically fusing the first depth estimate and the second depth estimate using the measures of uncertainty to generate a fused depth estimate for the scene; and
iteratively outputting the fused depth estimate for the scene, at each iteration processing the second depth estimate and one of the plurality of depth estimates.