Method and device for learning depth estimation based on view synthesis

An apparatus for controlling autonomous driving of a vehicle, the apparatus comprising:

• a processor;
• and
• a memory configured to store at least one instruction, that when executed by the processor, is configured to cause the apparatus to:
• train, based on an inference depth and an inference pose, a synthetic image model for generating a synthetic image, wherein the inference depth is outputted by a depth network from an original image, and wherein the inference pose is based on the original image;
• generate, based on the synthetic image, a first virtual image to be associated with the original image, wherein a value indicating similarity between the first virtual image and the original image satisfies a threshold value;
• and
• generate, based on the original image, a second virtual image;
• train a generative adversarial network (GAN) for determining, based on the original image, authenticity of the first virtual image and the second virtual image;
• and
• train, based on the trained GAN, the depth network, wherein the trained GAN is configured to output a determination of the authenticity of the first virtual image;
• output, based on the trained depth network, a signal;
• and
• control, based on the signal, autonomous driving of the vehicle.