Unsupervised learning of image depth and ego-motion prediction neural networks

One or more non-transitory computer-readable storage media storing instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

• receiving a sequence of images;
• processing, using an image depth prediction neural network, each image in the sequence of images to generate, for each image, a respective depth output that characterizes a depth of the image;
• and
• processing, using a camera motion estimation neural network, a subset of images in the sequence of images to generate a camera motion output that characterizes the motion of a camera between the images in the subset,
• wherein the image depth prediction neural network and the camera motion estimation neural network have been jointly trained using an unsupervised learning technique.

A computer-implemented method comprising:

• receiving a sequence of images;
• processing, using an image depth prediction neural network, each image in the sequence of images to generate, for each image, a respective depth output that characterizes a depth of the image;
• and
• processing, using a camera motion estimation neural network, a subset of images in the sequence of images to generate a camera motion output that characterizes the motion of a camera between the images in the subset,
• wherein the image depth prediction neural network and the camera motion estimation neural network have been jointly trained using an unsupervised learning technique.