Attention-Based Self-Supervised Learning Monocular Depth Estimation With Edge Refinement

Learning depth from a single image extracted from unlabeled videos has been attracting significant attention in the past few years. In this work, we propose a new depth estimation neural network with edge refinement to predict depth. First, we introduce a dual attention module into depth prediction module to integrate global information into local features and improve local featuresƒ?? capability of representation. Second, to increase the details between objects in scenes, we propose a subnetwork to predict edges in four directions and combine the predicted depth and edges to increase the details by propagation operation. Besides, we integrate the gradients of the image into the photometric reprojection loss to handle the confusion caused by changing brightness. We conduct experiments on KITTI datasets and show that our network achieves the state-of-art result.