Multi-frame self-supervised monocular depth estimation with multi-scale feature enhancement

Method （M）	Resolution	Indicator of Error （Lower is better）				Accuracy of Prediction （Higher is better）
Method （M）	Resolution	AbsRel	SqRel	RMSE	RMSElog	$δ < 1.25$	$δ < 1 . 25^{2}$	$δ < 1 . 25^{3}$
Monodepth2^［8］	640×192	0.115	0.903	4.863	0.193	0.877	0.959	0.981
Johnston et al.^［26］	640×192	0.106	0.861	4.699	0.185	0.889	0.962	0.982
Packnet-SFM^［27］	640×192	0.111	0.785	4.601	0.189	0.878	0.960	0.982
VA-Depth^［28］	640×192	0.112	0.864	4.804	0.190	0.877	0.959	0.982
Zeeshan et al.^［29］	640×192	0.113	0.903	4.863	0.193	0.877	0.959	0.981
STDepthFormer^［30］	640×192	0.110	0.805	4.678	0.187	0.878	0.961	0.983
Patil et al.^［31］	640×192	0.111	0.821	4.650	0.187	0.883	0.961	0.982
Suanders et al.^［32］	640×192	0.100	0.747	4.455	0.177	0.895	0.966	0.984
Wang et al.^［33］	640×192	0.106	0.799	4.662	0.187	0.889	0.961	0.983
Manydepth^［13］	640×192	0.098	0.770	4.459	0.176	0.900	0.965	0.983
Ours	640×192	0.095	0.743	4.374	0.175	0.903	0.965	0.983
Monodepth2^［8］	1 024×320	0.115	0.882	4.701	0.190	0.879	0.961	0.982
Packnet-SFM^［27］	1 280×384	0.107	0.802	4.538	0.186	0.889	0.962	0.981
Shu et al.^［34］	1 024×320	0.104	0.729	4.481	0.179	0 893	0.965	0.984
Wang et al.^［33］	1 024×320	0.106	0.773	4.491	0.185	0.890	0.962	0.982
Manydpeth^［13］	1 024×320	0.093	0.715	4.245	0.172	0.909	0.966	0.983
Ours	1 024×320	0.090	0.703	4.213	0.170	0.913	0.966	0.983

Table 2. Test results on the CityScapes dataset
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Table 2. Test results on the CityScapes dataset
Method AbsRel SqRel RMSE RMSElog
Monodepth2^［8］ 0.129 1.569 6.876 0.187
Li et al.^［35］ 0.119 1.290 6.980 0.190
Manydepth^［13］ 0.114 1.193 6.223 0.170
Ours 0.111 1.165 6.196 0.168

Table 3. Model parametric and computational complexity
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Table 3. Model parametric and computational complexity
Model Params/M FLOPs/G
Monodepth2^［8］ 14.3 8.0
Manydepth^［13］ 14.4 10.2
Ours 22.0 16.3

Table 4. Ablation experiment of modules

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Table 4. Ablation experiment of modules

Experiment	Act-VAN	SEM	DySample	Indicator of Error （Lower is better）				Accuracy of Prediction （Higher is better）
Experiment	Act-VAN	SEM	DySample	AbsRel	SqRel	RMSE	RMSElog	$δ < 1.25$	$δ < 1 . 25^{2}$	$δ < 1 . 25^{3}$
1	×	×	×	0.098	0.770	4.459	0.176	0.900	0.965	0.983
2	×	×	√	0.098	0.765	4.441	0.176	0.900	0.965	0.983
3	×	×	√	0.096	0.753	4.379	0.175	0.902	0.965	0.983
4	×	√	√	0.096	0.755	4.436	0.176	0.901	0.965	0.983
5	√	√	√	0.095	0.743	4.374	0.175	0.903	0.965	0.983

Table 5. Ablation experiment of modules design

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Table 5. Ablation experiment of modules design

Experiment	Method	Indicator of Error （Lower is better）				Accuracy of Prediction （Higher is better）
Experiment	Method	AbsRel	SqRel	RMSE	RMSElog	$δ < 1.25$	$δ < 1 . 25^{2}$	$δ < 1 . 25^{3}$
1	Baseline	0.098	0.770	4.459	0.176	0.900	0.965	0.983
2	VAN	0.097	0.765	4.495	0.176	0.901	0.965	0.983
3	Act-VAN	0.096	0.756	4.392	0.176	0.902	0.965	0.983
4	SEM（w/o）（LKA）	0.096	0.761	4.440	0.176	0.901	0.965	0.983
5	SEM	0.096	0.759	4.437	0.176	0.901	0.965	0.983

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Qiqi KOU, Weichen WANG, Chenggong HAN, Chen LÜ, Deqiang CHENG, Yucheng JI. Multi-frame self-supervised monocular depth estimation with multi-scale feature enhancement[J]. Optics and Precision Engineering, 2024, 32(24): 3603

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