The application provides a foreground-guided cross-scale memory attention self-supervised
monocular depth
estimation method and
system, and relates to the technical fields of
computer vision, three-dimensional
visual perception and self-supervised depth
estimation.The foreground-guided self-supervised
monocular depth
estimation network is constructed, and an
encoder, a self-generated foreground prior
branch, a foreground-guided cross-scale memory grouping query attention
bottleneck module and a depth decoder are used as main construction modules.In the self-supervised
monocular depth estimation task, the self-generated foreground prior
branch is used to learn to predict the foreground prior under the supervision of the offline generated binary pseudo foreground
mask, so that the network can generate the binary foreground prior according to the single target image in the
inference stage without an external segmentation model.The foreground-guided cross-scale memory grouping query attention
bottleneck module is used to fuse deep layer encoding features and intermediate layer encoding features, construct cross-scale shared key-value memories, and construct a foreground
selective attention bias according to the binary foreground prior, so as to enhance the
information aggregation in the foreground region, and at the same time, not to explicitly suppress the attention path between the foreground and the background, thereby improving the depth prediction stability and integrity of the moving foreground region, the
occlusion region and the depth discontinuous boundary.