The invention is suitable for the technical field of
computer vision, and provides a self-supervised
monocular depth
estimation method based on
wavelet feature enhancement, and the method comprises the steps: firstly obtaining a two-dimensional target image and an adjacent
image frame, and then generating a multi-scale first feature map and a multi-scale second feature map based on a main
encoder and a
wavelet feature extractor, the method comprises the following steps of: constructing a multi-scale second feature map, constructing a
wavelet guide
feature fusion module, injecting and enhancing high-frequency detail information of the multi-scale second feature map to a multi-scale first feature map based on the wavelet guide
feature fusion module, generating a plurality of third feature maps, generating a multi-scale depth
estimation map based on a decoder, and finally obtaining a multi-scale depth
estimation map based on relative
pose information, the multi-scale depth estimation map and a
luminosity consistency error. And carrying out self-
supervised training on the to-be-trained
deep learning model. According to the method, the limitation of high-frequency
information loss in a sampling process in a traditional method can be overcome, structural details and boundary information in depth estimation are effectively enhanced and supplemented, and a
depth map with higher quality is obtained.