Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynamic range, and low power consumption make them well-suited for addressing challenges in monocular depth estimation (e.g., high-speed or low-lighting conditions). However, existing methods primarily treat event streams as black-box learning systems, without incorporating prior physical principles. As a result, they become over-parameterized and fail to fully exploit the rich temporal information inherent in event camera data. To address this limitation, we incorporate physical motion principles and propose a high-accuracy monocular depth estimation framework, in which the likelihood of different depth hypotheses is explicitly determined by motion compensation based on the egomotion of the event camera. Specifically, we introduce a Focus Cost Discrimination (FCD) module that assesses edge sharpness as a key indicator of focus, while also integrating spatial context to facilitate more accurate cost estimation. Furthermore, we analyze the noise patterns within our framework and enhance it with a newly proposed Inter-Hypotheses Cost Aggregation (IHCA) module. This module refines the cost volume through trend prediction and multi-scale cost consistency constraints. Extensive experiments on real-world and synthetic datasets demonstrate that our framework achieves a 22% relative reduction in absolute relative error, highlighting its superior accuracy in monocular depth estimation.

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Learning Monocular Depth from Events via Egomotion Compensation

  • Haitao Meng,
  • Chonghao Zhong,
  • Sheng Tang,
  • JunJia Lian,
  • Wenwei Lin,
  • Zhenshan Bing,
  • Yi Chang,
  • Gang Chen,
  • Alois Knoll

摘要

Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynamic range, and low power consumption make them well-suited for addressing challenges in monocular depth estimation (e.g., high-speed or low-lighting conditions). However, existing methods primarily treat event streams as black-box learning systems, without incorporating prior physical principles. As a result, they become over-parameterized and fail to fully exploit the rich temporal information inherent in event camera data. To address this limitation, we incorporate physical motion principles and propose a high-accuracy monocular depth estimation framework, in which the likelihood of different depth hypotheses is explicitly determined by motion compensation based on the egomotion of the event camera. Specifically, we introduce a Focus Cost Discrimination (FCD) module that assesses edge sharpness as a key indicator of focus, while also integrating spatial context to facilitate more accurate cost estimation. Furthermore, we analyze the noise patterns within our framework and enhance it with a newly proposed Inter-Hypotheses Cost Aggregation (IHCA) module. This module refines the cost volume through trend prediction and multi-scale cost consistency constraints. Extensive experiments on real-world and synthetic datasets demonstrate that our framework achieves a 22% relative reduction in absolute relative error, highlighting its superior accuracy in monocular depth estimation.