F2Depth: Self-supervised Indoor Monocular Depth Estimation via Optical Flow Consistency and Feature Map Synthesis

Abstract

Self-supervised monocular depth estimation methods have been increasingly given much attention due to the benefit of not requiring large, labelled datasets. Such self-supervised methods require high-quality salient features and consequently suffer from severe performance drop for indoor scenes, where low-textured regions dominant in the scenes are almost indiscrimi-native. To address the issue, we propose a self-supervised indoor monocular depth estimation framework called F 2 Depth. A self-supervised optical flow estimation network is introduced to supervise depth learning. To improve optical flow estimation performance in low-textured areas, only some patches of