Patent ID: 11915439
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 8:
9. A method of estimating a depth of an image, comprising:
acquiring an image to be estimated; and
performing a depth estimation on the image to be estimated, by using a depth estimation network, so as to obtain a depth image for the image to be estimated, wherein the depth estimation network is trained by using operations of training a depth estimation network, the operations comprise:
performing a depth estimation on an original image by using a depth estimation network, so as to obtain a depth image for the original image;
removing a moving object from the original image so as to obtain a preprocessed image for the original image;
estimating a pose based on the original image and modifying the pose based on the preprocessed image; and
adjusting parameters of the depth estimation network according to the original image, the depth image and the pose modified,
wherein the original image comprises a first original image and a second original image located in a frame adjacent to the first original image,
wherein the adjusting parameters of the depth estimation network according to the original image, the depth image and the pose modified comprises: generating a projection image for the second original image based on the pose modified, the second original image, and the depth image for the second original image; determining a loss of the depth estimation network based on a photometric error between the first original image and the projection image as well as a gradient error between the first original image and the depth image for the first original image; and adjusting the parameters of the depth estimation network based on the loss of the depth estimation network;
wherein the photometric error is calculated by using a preset first loss function;
wherein the gradient error is obtained by following operations that include: determining a region of the first original image where each object in the first original image is located and a region of the depth image for the first original image where the each object in the first original image is located, based on the preprocessed image for the first original image; calculating a first gradient of the region of the first original image where the each object is located and a second gradient of the region of the depth image for the first original image where the each object is located; calculating, for the each object, a gradient error between the first original image and the depth image for the first original image based on the first gradient and the second gradient by using a preset second loss function; and calculating a total gradient error between the first original image and the depth image for the first original image based on the gradient error for the each object.