Learning Object Depth from Camera Motion and Video Object Segmentation

Brent A. Griffin, Jason J. Corso

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

Video object segmentation, i.e., the separation of a target object from background in video, has made significant progress on real and challenging videos in recent years. To leverage this progress in 3D applications, this paper addresses the problem of learning to estimate the depth of segmented objects given some measurement of camera motion (e.g., from robot kinematics or vehicle odometry). We achieve this by, first, introducing a diverse, extensible dataset and, second, designing a novel deep network that estimates the depth of objects using only segmentation masks and uncalibrated camera movement. Our data-generation framework creates artificial object segmentations that are scaled for changes in distance between the camera and object, and our network learns to estimate object depth even with segmentation errors. We demonstrate our approach across domains using a robot camera to locate objects from the YCB dataset and a vehicle camera to locate obstacles while driving.

Original languageEnglish
Title of host publicationComputer Vision – ECCV 2020 - 16th European Conference, 2020, Proceedings
EditorsAndrea Vedaldi, Horst Bischof, Thomas Brox, Jan-Michael Frahm
Pages295-312
Number of pages18
DOIs
StatePublished - 2020
Event16th European Conference on Computer Vision, ECCV 2020 - Glasgow, United Kingdom
Duration: 23 Aug 202028 Aug 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12352 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference16th European Conference on Computer Vision, ECCV 2020
Country/TerritoryUnited Kingdom
CityGlasgow
Period23/08/2028/08/20

Keywords

  • Depth estimation
  • Robotics
  • Video object segmentation

Fingerprint

Dive into the research topics of 'Learning Object Depth from Camera Motion and Video Object Segmentation'. Together they form a unique fingerprint.

Cite this