Multi-scale recurrent decoder for monocular depth estimation

An apparatus for estimating depth, comprising:

• a processor;
• a memory coupled with the processor;
• and
• instructions stored in the memory and operable, when executed by the processor, to cause the apparatus:
• to generating, at each decoding layer of a neural network, decoded features of an input image;
• to upsample, at each decoding layer, the decoded features to a resolution of a final output of the neural network;
• to concatenate, at each decoding layer, the upsampled decoded features with features generated at a convolution layer of the neural network;
• to sequentially receive the concatenated upsampled decoded features at a long-short term memory (LSTM) module of the neural network from each decoding layer;
• to generate, at the LSTM module, a depth estimate of the input image after receiving the concatenated upsampled decoded features from a final layer of a decoder of the neural network;
• and
• to control an action of an agent based on the depth estimate.

A non-transitory computer-readable medium having program code recorded thereon for estimating depth, the program code executed by a processor and comprising:

• program code to generating, at each decoding layer of a neural network, decoded features of an input image;
• program code to upsample, at each decoding layer, the decoded features to a resolution of a final output of the neural network;
• program code to concatenate, at each decoding layer, the upsampled decoded features with features generated at a convolution layer of the neural network;
• program code to sequentially receive the concatenated upsampled decoded features at a long-short term memory (LSTM) module of the neural network from each decoding layer;
• program code to generate, at the LSTM module, a depth estimate of the input image after receiving the concatenated upsampled decoded features from a final layer of a decoder of the neural network;
• and
• program code to control an action of an agent based on the depth estimate.