# Instance-aware multi-object self-supervision for monocular depth prediction

arXiv: https://arxiv.org/abs/2203.00809 · HTML: https://mlsanity.com/paper/2203.00809/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 41 references that are in the map.
- First posted on arXiv 2 Mar 2022.

## Builds on (most cited first, 30 of 32)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [TrackFormer: Multi-Object Tracking with Transformers](https://mlsanity.com/paper/2101.02702/) (2021)
- [3D Packing for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/1905.02693/) (2019)
- [GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose](https://mlsanity.com/paper/1803.02276/) (2018)
- [Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video](https://mlsanity.com/paper/1908.10553/) (2019)
- [Competitive Collaboration: Joint Unsupervised Learning of Depth, Camera Motion, Optical Flow and Motion Segmentation](https://mlsanity.com/paper/1805.09806/) (2018)
- [The Temporal Opportunist: Self-Supervised Multi-Frame Monocular Depth](https://mlsanity.com/paper/2104.14540/) (2021)
- [Depth from Videos in the Wild: Unsupervised Monocular Depth Learning from Unknown Cameras](https://mlsanity.com/paper/1904.04998/) (2019)
- [Self-Supervised Monocular Depth Estimation: Solving the Dynamic Object Problem by Semantic Guidance](https://mlsanity.com/paper/2007.06936/) (2020)
- [Feature-metric Loss for Self-supervised Learning of Depth and Egomotion](https://mlsanity.com/paper/2007.10603/) (2020)
- [Self-supervised Learning with Geometric Constraints in Monocular Video: Connecting Flow, Depth, and Camera](https://mlsanity.com/paper/1907.05820/) (2019)
- [Self-supervised Monocular Trained Depth Estimation using Self-attention and Discrete Disparity Volume](https://mlsanity.com/paper/2003.13951/) (2020)
- [EfficientPS: Efficient Panoptic Segmentation](https://mlsanity.com/paper/2004.02307/) (2020)
- [Every Pixel Counts ++: Joint Learning of Geometry and Motion with 3D Holistic Understanding](https://mlsanity.com/paper/1810.06125/) (2018)
- [Searching for Efficient Multi-Scale Architectures for Dense Image Prediction](https://mlsanity.com/paper/1809.04184/) (2018)
- [SfM-Net: Learning of Structure and Motion from Video](https://mlsanity.com/paper/1704.07804/) (2017)
- [Self-Supervised Monocular Scene Flow Estimation](https://mlsanity.com/paper/2004.04143/) (2020)
- [Learning Monocular Depth in Dynamic Scenes via Instance-Aware Projection Consistency](https://mlsanity.com/paper/2102.02629/) (2021)
- [Unsupervised Learning of Geometry with Edge-aware Depth-Normal Consistency](https://mlsanity.com/paper/1711.03665/) (2017)
- [Attentive and Contrastive Learning for Joint Depth and Motion Field Estimation](https://mlsanity.com/paper/2110.06853/) (2021)
- [Monocular Depth Estimation with Self-supervised Instance Adaptation](https://mlsanity.com/paper/2004.05821/) (2020)

## Built on by (most cited first, 5 of 5)

- [STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimation](https://mlsanity.com/paper/2302.01334/) (2023)
- [Dynamo-Depth: Fixing Unsupervised Depth Estimation for Dynamical Scenes](https://mlsanity.com/paper/2310.18887/) (2023)
- [Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps](https://mlsanity.com/paper/2206.03799/) (2022)
- [Dyna-DepthFormer: Multi-frame Transformer for Self-Supervised Depth Estimation in Dynamic Scenes](https://mlsanity.com/paper/2301.05871/) (2023)
- [STDepthFormer: Predicting Spatio-temporal Depth from Video with a Self-supervised Transformer Model](https://mlsanity.com/paper/2303.01196/) (2023)

## Abstract (arXiv)

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is performed by warping the images across a video sequence using depth and scene motion including object instances. One novelty of the proposed method is the use of the multi-head attention of the transformer network that matches moving objects across time and models their interaction and dynamics. This enables accurate and robust pose estimation for each object instance. Most image-to-depth predication frameworks make the assumption of rigid scenes, which largely degrades their performance with respect to dynamic objects. Only a few SOTA papers have accounted for dynamic objects. The proposed method is shown to outperform these methods on standard benchmarks and the impact of the dynamic motion on these benchmarks is exposed. Furthermore, the proposed image-to-depth prediction framework is also shown to be competitive with SOTA video-to-depth prediction frameworks.