Monocular Depth Estimation via Radar Intermediary
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Solution Overview
Problem
Existing methods for estimating depth in images, such as those used in autonomous driving, are limited by the need for binocular stereo cameras or known camera distances, and cannot accurately calculate depth with monocular cameras.
Innovation Solution
A method for estimating depth using a monocular camera and a distance acquisition device, such as a radar, which involves obtaining images and 3D point cloud data, processing them through a pre-trained depth estimation model, and calculating a depth ratio factor to convert relative depth values into actual depth values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If binocular stereo camera is used to calculate depth, then depth calculation accuracy is improved, but device complexity increases
Solution Approach 1:
The patent introduces a distance acquisition device as an intermediary to obtain distance information, which then serves as a reference for calculating the depth scale factor. This mediator bridges the gap between monocular imaging and accurate depth measurement, allowing depth calculation without requiring binocular stereo cameras.
Solution Approach 2:
The patent replaces the mechanical/optical binocular stereo camera system with a monocular camera combined with a distance acquisition device. The distance acquisition device provides distance information that substitutes for the disparity information normally obtained through binocular vision, thereby simplifying the camera system while maintaining depth calculation capability.
2Measurement precision
If binocular stereo camera is used to calculate depth, then depth estimation capability is improved, but ease of operation deteriorates
Solution Approach 1:
The distance acquisition device acts as an intermediary that automatically provides distance information, eliminating the need for manual calibration of camera baseline distance. This intermediary handles the complex measurement task, making the system easier to operate while maintaining accurate depth estimation capability.
3Device complexity
If monocular camera is used without distance information, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The distance acquisition device serves multiple functions: it provides distance information for scale factor calculation, enables depth estimation with monocular cameras, and can be integrated with existing camera systems without requiring fundamental changes to the imaging architecture. This multi-functional component resolves the contradiction between simplicity and precision.
Solution Approach 2:
The distance acquisition device introduces an intermediary measurement mechanism that compensates for the lack of stereo vision in monocular systems. This intermediary provides the missing depth scale information, allowing simple monocular cameras to achieve accurate depth measurement without increasing overall system complexity.
Data Source
AI summary
A method for estimating depth implemented in an electronic device includes obtaining a first image; inputting the first image into a depth estimation model, and obtaining a first depth image; obtaining a depth ratio factor, the depth ratio factor indicating a relationship between a relative depth and a depth of each pixel in the first depth image; and obtaining depth information of the first depth image according to the first depth image and the depth ratio factor.