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This paper presents a novel technique for the depth estimation from the monocular outdoor images. This technique combines three major components: the camera projection model, object classifier, and dark channel modifier. The camera projection model estimates a reasonable relative depth by the camera parameters from the exchangeable image file format (EXIF). The object classifier categorizes objects into four types; sky, ground, man-made and natural objects, and then assigns initial depth to each object. Finally, the initial depth is further corrected by dark channel model. The experiments show our estimated depth map is close to the ground truth, as well as providing the satisfying stereo visual results.