Geometry-Aware Self-Supervised Indoor 360$^{\circ }$ Depth Estimation via Asymmetric Dual-Domain Collaborative Learning

Abstract

Being able to estimate monocular depth for spherical panoramas is of fundamental importance in 3D scene perception. However, spherical distortion severely limits the effectiveness of vanilla convolutions. To push the envelope of accuracy, recent approaches attempt to utilize Tangent projection (TP) to estimate the depth of $360 ^{\circ }$ images. Yet, these methods still suffer from discrepancies and inconsistencies among patch-wise tangent images, as well as the lack of accurate ground truth depth maps under a supervised fashion. In this paper, we propose a geometry-aware self-supervised $360 ^{\circ }$ image depth estimation methodology that explores the complementary advantages of TP and Equirectangular projection (ERP) by an asymmetric dual-domain collaborative learning strategy. Especially, we first develop a lightweight asymmetric dual-domain depth estimation network, which enables to aggregate depth-related features from a single TP domain, and then produce depth distributions of the TP and ERP domains via collaborative learning. This effectively mitigates stitching artifacts and preserves fine details in depth inference without overspending model parameters. In addition, a frequent-spatial feature concentration module is devised to simultaneously capture non-local Fourier features and local spatial features, such that facilitating the efficient exploration of monocular depth cues. Moreover, we introduce a geometric structural alignment module to further improve geometric structural consistency among tangent images. Extensive experiments illustrate that our designed approach outperforms existing self-supervised $360 ^{\circ }$ depth estimation methods on three publicly available benchmark datasets.