Bayesian Deep Neural Networks for Supervised Learning of Single-View Depth

نویسندگان

چکیده

Uncertainty quantification is essential for robotic perception, as overconfident or point estimators can lead to collisions and damages the environment robot. In this letter, we evaluate scalable approaches uncertainty in single-view supervised depth learning, specifically MC dropout deep ensembles. For dropout, particular, explore effect of at different levels architecture. We show that adding all layers encoder brings better results than other variations found literature. This configuration performs similarly ensembles with a much lower memory footprint, which relevant applications. Finally, use pseudo-RGBD ICP demonstrate its potential estimate accurate two-view relative motion real scale.

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ژورنال

عنوان ژورنال: IEEE robotics and automation letters

سال: 2022

ISSN: ['2377-3766']

DOI: https://doi.org/10.1109/lra.2022.3142915