No Pose Estimation? No Problem: Pose-Agnostic and Instance-Aware Test-Time Adaptation for Monocular Depth Estimation
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866912693366030336 |
|---|---|
| author | Sung, Mingyu Choe, Hyeonmin Kim, Il-Min Yun, Sangseok Kang, Jae Mo |
| author_facet | Sung, Mingyu Choe, Hyeonmin Kim, Il-Min Yun, Sangseok Kang, Jae Mo |
| contents | Monocular depth estimation (MDE), inferring pixel-level depths in single RGB images from a monocular camera, plays a crucial and pivotal role in a variety of AI applications demanding a three-dimensional (3D) topographical scene. In the real-world scenarios, MDE models often need to be deployed in environments with different conditions from those for training. Test-time (domain) adaptation (TTA) is one of the compelling and practical approaches to address the issue. Although there have been notable advancements in TTA for MDE, particularly in a self-supervised manner, existing methods are still ineffective and problematic when applied to diverse and dynamic environments. To break through this challenge, we propose a novel and high-performing TTA framework for MDE, named PITTA. Our approach incorporates two key innovative strategies: (i) pose-agnostic TTA paradigm for MDE and (ii) instance-aware image masking. Specifically, PITTA enables highly effective TTA on a pretrained MDE network in a pose-agnostic manner without resorting to any camera pose information. Besides, our instance-aware masking strategy extracts instance-wise masks for dynamic objects (e.g., vehicles, pedestrians, etc.) from a segmentation mask produced by a pretrained panoptic segmentation network, by removing static objects including background components. To further boost performance, we also present a simple yet effective edge extraction methodology for the input image (i.e., a single monocular image) and depth map. Extensive experimental evaluations on DrivingStereo and Waymo datasets with varying environmental conditions demonstrate that our proposed framework, PITTA, surpasses the existing state-of-the-art techniques with remarkable performance improvements in MDE during TTA. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_05055 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | No Pose Estimation? No Problem: Pose-Agnostic and Instance-Aware Test-Time Adaptation for Monocular Depth Estimation Sung, Mingyu Choe, Hyeonmin Kim, Il-Min Yun, Sangseok Kang, Jae Mo Computer Vision and Pattern Recognition Artificial Intelligence Monocular depth estimation (MDE), inferring pixel-level depths in single RGB images from a monocular camera, plays a crucial and pivotal role in a variety of AI applications demanding a three-dimensional (3D) topographical scene. In the real-world scenarios, MDE models often need to be deployed in environments with different conditions from those for training. Test-time (domain) adaptation (TTA) is one of the compelling and practical approaches to address the issue. Although there have been notable advancements in TTA for MDE, particularly in a self-supervised manner, existing methods are still ineffective and problematic when applied to diverse and dynamic environments. To break through this challenge, we propose a novel and high-performing TTA framework for MDE, named PITTA. Our approach incorporates two key innovative strategies: (i) pose-agnostic TTA paradigm for MDE and (ii) instance-aware image masking. Specifically, PITTA enables highly effective TTA on a pretrained MDE network in a pose-agnostic manner without resorting to any camera pose information. Besides, our instance-aware masking strategy extracts instance-wise masks for dynamic objects (e.g., vehicles, pedestrians, etc.) from a segmentation mask produced by a pretrained panoptic segmentation network, by removing static objects including background components. To further boost performance, we also present a simple yet effective edge extraction methodology for the input image (i.e., a single monocular image) and depth map. Extensive experimental evaluations on DrivingStereo and Waymo datasets with varying environmental conditions demonstrate that our proposed framework, PITTA, surpasses the existing state-of-the-art techniques with remarkable performance improvements in MDE during TTA. |
| title | No Pose Estimation? No Problem: Pose-Agnostic and Instance-Aware Test-Time Adaptation for Monocular Depth Estimation |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence |
| url | https://arxiv.org/abs/2511.05055 |