We consider the problem of depth estimation from a sin- gle monocular image in this work. It is a challenging task as no reliable depth cues are available, e.g., stereo corre- spondences, motions etc. Previous efforts have been focus- ing on exploiting geometric priors or additional sources of information, with all using hand-crafted features. Recently, there is mounting evidence that features from deep convo- lutional neural networks (CNN) are setting new records for various vision applications. On the other hand, considering the continuous characteristic of the depth values, depth esti- mations can be naturally formulated into a continuous con- ditional random field (CRF) learning problem. Therefore, we in this paper present a deep convolutional neural field model for estimating depths from a single image, aiming to jointly explore the capacity of deep CNN and continuous CRF. Specifically, we propose a deep structured learning scheme which learns the unary and pairwise potentials of continuous CRF in a unified deep CNN framework. The proposed method can be used for depth estimations of general scenes with no geometric priors nor any extra in- formation injected. In our case, the integral of the partition function can be analytically calculated, thus we can exactly solve the log-likelihood optimization. Moreover, solving the MAP problem for predicting depths of a new image is highly efficient as closed-form solutions exist. We experimentally demonstrate that the proposed method outperforms state-of- the-art depth estimation methods on both indoor and out- door scene datasets.
展开▼
