Patent ID: 11875521
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B  H | IPC B  G  H

Claim 0:
1. A method for self-supervised depth and ego-motion estimation, the method comprising:
determining a multi-camera photometric loss associated with a multi-camera rig of an ego vehicle;
generating a self-occlusion mask by manually segmenting self-occluded areas of images captured by the multi-camera rig of the ego vehicle;
multiplying the multi-camera photometric loss with the self-occlusion mask to form a self-occlusion masked photometric loss;
training a depth estimation model and an ego-motion estimation model according to the self-occlusion masked photometric loss by leveraging cross-camera temporal contexts via spatio-temporal photometric constraints to increase an amount of overlap between cameras of the multi-camera rig using a predicted ego-motion of the ego vehicle; and
predicting a 360° point cloud of a scene surrounding the ego vehicle according to the depth estimation model and the ego-motion estimation model.