로봇학회논문지 제14권 제2호 (통권 제52호) (p.114-121)

딥러닝 기반 영상 주행기록계와 단안 깊이 추정 및 기술을 위한 벤치마크

Benchmark for Deep Learning based Visual Odometry and Monocular Depth Estimation
키워드 :
Visual Odomtery,Monocualr Depth Estimation,Deep Learning

목차

Abstract
1. 서 론
2. 기존 연구
  2.1 전문가 시스템 기반 VO
  2.2 학습 기반 VO
3. VODE 벤치마크
  3.1 평가 시스템
3.2 입출력 데이터셋
  4.1 VO 비교 결과
  4.2 MDE 비교 결과
5. 결 론
References

초록

This paper presents a new benchmark system for visual odometry (VO) and monocular depth estimation (MDE). As deep learning has become a key technology in computer vision, many researchers are trying to apply deep learning to VO and MDE. Just a couple of years ago, they were independently studied in a supervised way, but now they are coupled and trained together in an unsupervised way. However, before designing fancy models and losses, we have to customize datasets to use them for training and testing. After training, the model has to be compared with the existing models, which is also a huge burden. The benchmark provides input dataset ready-to-use for VO and MDE research in ‘tfrecords’ format and output dataset that includes model checkpoints and inference results of the existing models. It also provides various tools for data formatting, training, and evaluation. In the experiments, the exsiting models were evaluated to verify their performances presented in the corresponding papers and we found that the evaluation result is inferior to the presented performances.