# How Far Can I Go ? : A Self-Supervised Approach for Deterministic Video Depth Forecasting

arXiv: https://arxiv.org/abs/2207.00506 · HTML: https://mlsanity.com/paper/2207.00506/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 54 references that are in the map.
- First posted on arXiv 1 Jul 2022.

## Builds on (most cited first, 30 of 42)

- [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)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [Spatial Transformer Networks](https://mlsanity.com/paper/1506.02025/) (2015)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks](https://mlsanity.com/paper/1612.01925/) (2016)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation](https://mlsanity.com/paper/1907.10326/) (2019)
- [Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue](https://mlsanity.com/paper/1603.04992/) (2016)
- [GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose](https://mlsanity.com/paper/1803.02276/) (2018)
- [Deep multi-scale video prediction beyond mean square error](https://mlsanity.com/paper/1511.05440/) (2015)
- [Going Deeper in Spiking Neural Networks: VGG and Residual Architectures](https://mlsanity.com/paper/1802.02627/) (2018)
- [Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos](https://mlsanity.com/paper/1811.06152/) (2018)
- [CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM](https://mlsanity.com/paper/1804.00874/) (2018)
- [Delving Deeper into Convolutional Networks for Learning Video Representations](https://mlsanity.com/paper/1511.06432/) (2015)
- [Resnet in Resnet: Generalizing Residual Architectures](https://mlsanity.com/paper/1603.08029/) (2016)
- [Video Pixel Networks](https://mlsanity.com/paper/1610.00527/) (2016)
- [Every Pixel Counts ++: Joint Learning of Geometry and Motion with 3D Holistic Understanding](https://mlsanity.com/paper/1810.06125/) (2018)
- [Video (language) modeling: a baseline for generative models of natural videos](https://mlsanity.com/paper/1412.6604/) (2014)
- [SfM-Net: Learning of Structure and Motion from Video](https://mlsanity.com/paper/1704.07804/) (2017)
- [DeepTAM: Deep Tracking and Mapping](https://mlsanity.com/paper/1808.01900/) (2018)
- [Semantic Video Segmentation by Gated Recurrent Flow Propagation](https://mlsanity.com/paper/1612.08871/) (2016)
- [A Lightweight Optical Flow CNN - Revisiting Data Fidelity and Regularization](https://mlsanity.com/paper/1903.07414/) (2019)
- [Deep3D: Fully Automatic 2D-to-3D Video Conversion with Deep Convolutional Neural Networks](https://mlsanity.com/paper/1604.03650/) (2016)
- [Web Stereo Video Supervision for Depth Prediction from Dynamic Scenes](https://mlsanity.com/paper/1904.11112/) (2019)
- [DepthTransfer: Depth Extraction from Video Using Non-parametric Sampling](https://mlsanity.com/paper/2001.00987/) (2019)
- [Predicting Deeper into the Future of Semantic Segmentation](https://mlsanity.com/paper/1703.07684/) (2017)

## Built on by (most cited first, 3 of 3)

- [Advancing Semantic Future Prediction through Multimodal Visual Sequence Transformers](https://mlsanity.com/paper/2501.08303/) (2025)
- [FLODCAST: Flow and Depth Forecasting via Multimodal Recurrent Architectures](https://mlsanity.com/paper/2310.20593/) (2023)
- [Panoptic-Depth Forecasting](https://mlsanity.com/paper/2409.12008/) (2024)

## Abstract (arXiv)

In this paper we present a novel self-supervised method to anticipate the depth estimate for a future, unobserved real-world urban scene. This work is the first to explore self-supervised learning for estimation of monocular depth of future unobserved frames of a video. Existing works rely on a large number of annotated samples to generate the probabilistic prediction of depth for unseen frames. However, this makes it unrealistic due to its requirement for large amount of annotated depth samples of video. In addition, the probabilistic nature of the case, where one past can have multiple future outcomes often leads to incorrect depth estimates. Unlike previous methods, we model the depth estimation of the unobserved frame as a view-synthesis problem, which treats the depth estimate of the unseen video frame as an auxiliary task while synthesizing back the views using learned pose. This approach is not only cost effective - we do not use any ground truth depth for training (hence practical) but also deterministic (a sequence of past frames map to an immediate future). To address this task we first develop a novel depth forecasting network DeFNet which estimates depth of unobserved future by forecasting latent features. Second, we develop a channel-attention based pose estimation network that estimates the pose of the unobserved frame. Using this learned pose, estimated depth map is reconstructed back into the image domain, thus forming a self-supervised solution. Our proposed approach shows significant improvements in Abs Rel metric compared to state-of-the-art alternatives on both short and mid-term forecasting setting, benchmarked on KITTI and Cityscapes. Code is available at https://github.com/sauradip/depthForecasting