V2Depth: Monocular Depth Estimation via Feature-Level Virtual-View Simulation and Refinement

摘要

Due to the lack of spatial cues giving merely a single image, many monocular depth estimation methods have been developed to leverage stereo or multi-view images to learn the spatial information of a scene in a self-supervised manner. However, these methods have limited performance gain since they are not able to exploit sufficient 3D geometry cues during inference, where only monocular images are available. In this work, we present V2Depth, a novel coarse-to-fine framework with Virtual View feature simulation for supervised monocular Depth estimation. Specifically, we first design a virtual-view feature simulator by leveraging the technique of novel view synthesis and contrastive learning to generate virtual view feature maps. In this way, we explicitly provide representative spatial geometry for subsequent depth estimation in both the training and inference stages. Then we introduce a 3DVA-Refiner to iteratively optimize the predicted depth map. During the optimization process, 3D-aware virtual attention is developed to capture the global spatial-context correlations to maintain the feature consistency of different views and estimation integrity of the 3D scene such as objects with occlusion relationships. Decisive improvements over state-of-the-art approaches on three benchmark datasets across all metrics demonstrate the superiority of our method.