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Before deploying a monocular depth estimation (MDE) model in real-world applications such as autonomous driving, it is critical to understand its generalization and robustness. Although the generalization of MDE models has been thoroughly studied, the robustness of the models has been overlooked in previous research. Existing state-of-the-art methods exhibit strong generalization to clean, unseen scenes. Such methods, however, appear to degrade when the test image is perturbed. This is likely because the prior arts typically use the primary 2D data augmentations (e.g., random horizontal flipping, random cropping, and color jittering), ignoring other common image degradation or corruptions. To mitigate this issue, we delve deeper into data augmentation and propose utilizing strong data augmentation techniques for robust depth estimation. In particular, we introduce 3D-aware defocus blur in addition to seven 2D data augmentations. We evaluate the generalization of our model on six clean RGB-D datasets that were not seen during training. To evaluate the robustness of MDE models, we create a benchmark by applying 15 common corruptions to the clean images from IBIMS, NYUDv2, KITTI, ETH3D, DIODE, and TUM. On this benchmark, we systematically study the robustness of our method and 9 representative MDE models. The experimental results demonstrate that our model exhibits better generalization and robustness than the previous methods. Specifically, we provide valuable insights about the choices of data augmentation strategies and network architectures, which would be useful for future research in robust monocular depth estimation. Our code, model, and benchmark can be available at https://github.com/KexianHust/Robust-MonoDepth. [ABSTRACT FROM AUTHOR]

Multi-task visual perception has a wide range of applications in scene understanding such as autonomous driving. In this work, we devise an efficient unified framework to solve multiple common perception tasks, including instance segmentation, semantic segmentation, monocular 3D detection, and depth estimation. Simply sharing the same visual feature representations for these tasks impairs the performance of tasks, while independent task-specific feature extractors lead to parameter redundancy and latency. Thus, we design two feature-merge branches to learn feature basis, which can be useful to, and thus shared by, multiple perception tasks. Then, each task takes the corresponding feature basis as the input of the prediction task head to fulfill a specific task. In particular, one feature merge branch is designed for instance-level recognition the other for dense predictions. To enhance inter-branch communication, the instance branch passes pixel-wise spatial information of each instance to the dense branch using efficient dynamic convolution weighting. Moreover, a simple but effective dynamic routing mechanism is proposed to isolate task-specific features and leverage common properties among tasks. Our proposed framework, termed D2BNet, demonstrates a unique approach to parameter-efficient predictions for multi-task perception. In addition, as tasks benefit from co-training with each other, our solution achieves on par results on partially labeled settings on nuScenes and outperforms previous works for 3D detection and depth estimation on the Cityscapes dataset with full supervision. [ABSTRACT FROM AUTHOR]

We propose a monocular depth estimation method SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which penalizes the inconsistency of predicted depths between adjacent views; (ii) we propose a self-discovered mask to automatically localize moving objects that violate the underlying static scene assumption and cause noisy signals during training; (iii) we demonstrate the efficacy of each component with a detailed ablation study and show high-quality depth estimation results in both KITTI and NYUv2 datasets. Moreover, thanks to the capability of scale-consistent prediction, we show that our monocular-trained deep networks are readily integrated into ORB-SLAM2 system for more robust and accurate tracking. The proposed hybrid Pseudo-RGBD SLAM shows compelling results in KITTI, and it generalizes well to the KAIST dataset without additional training. Finally, we provide several demos for qualitative evaluation. The source code is released on GitHub. [ABSTRACT FROM AUTHOR]