2023/12/20 by Yue-Jiang Dong, Yuan-Chen Guo, Dong, Yue-Jiang +7 · 1 citation
Computer Science · Engineering · #Advanced Image Processing Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image Processing Techniques and Applications
paper · pdf · doi:10.48550/arxiv.2312.13066
openalex publication_date 2023/12/20 · openalex created_date 2023/12/22 · openalex updated_date 2026/08/01
Self-supervised monocular depth estimation is of significant importance with applications spanning across autonomous driving and robotics. However, the reliance on self-supervision introduces a strong static-scene assumption, thereby posing challenges in achieving optimal performance in dynamic scenes, which are prevalent in most real-world situations. To address these issues, we propose PPEA-Depth, a Progressive Parameter-Efficient Adaptation approach to transfer a pre-trained image model for self-supervised depth estimation. The training comprises two sequential stages: an initial phase trained on a dataset primarily composed of static scenes, succeeded by an expansion to more intricate datasets involving dynamic scenes. To facilitate this process, we design compact encoder and decoder adapters to enable parameter-efficient tuning, allowing the network to adapt effectively. They not only uphold generalized patterns from pre-trained image models but also retain knowledge gained from the preceding phase into the subsequent one. Extensive experiments demonstrate that PPEA-Depth achieves state-of-the-art performance on KITTI, CityScapes and DDAD datasets.