Unsupervised learning for monocular depth and motion with real scale

In Computer Vision, the method of using a single image to learn depth information through the CNNs has gradually improved, especially for the unsupervised learning methods which trains without the ground-truth are based on the image process and vision. However, the depth map generated from these methods are relative depth values instead of absolute depths, therefore these methods can't be well applied to practical applications.In this paper, we use the monocular video sequence as input, and get partial true depth value by using a prior conditions, so as to constrain the depth and the relative pose of the entire sequence with the "real" scale. Here we solve the previous scale ambiguous problem by fusing the geometry information, which correct the scale of the entire sequence by our rescaled module. This paper only uses monocular sequences to accomplish these tasks.Moreover, our method is specifically effective in the field of automated guided vehicles with only a camera as the requirement which reducing the dependence on other devices but improved the quality.