Scale-aware depth estimation using multi-camera projection loss

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

• program code to leverage cross-camera temporal contexts via spatio-temporal photometric constraints to increase an amount of overlap between images captured by cameras of a 360° multi-camera rig using an ego-motion estimation of an ego vehicle;
• program code to train a scale-aware depth estimation model and an ego-motion estimation model according to the leveraged cross-camera temporal contexts via spatio-temporal photometric constraints;
• program code to enforce, using a pose network, pose consistency constraints as a spatial photometric constraint to ensure cameras of the 360° multi-camera rig follow a same rigid body motion during the training of the scale-aware depth estimation model and the ego motion model;
• program code to generate increased overlap images from the images captured by each camera of the 360° multi-camera rig of the ego vehicle using a trained scale-aware depth estimation model and a trained ego-motion estimation model;
• and
• program code to generate a full surround mono-depth (FSM) 360° point cloud from the increased overlap images to illustrate a scene surrounding the ego vehicle.