Direct depth prediction

A method comprising:

• executing a machine learning model on image data captured by a plurality of cameras, the machine learning model comprising a plurality of layers;
• applying a non-linear mapping function to output of one layer of the plurality of layers to generate depth data;
• and
• training the machine learning model based on the depth data to generate a trained machine learning model.

A system comprising:

• means for executing a machine learning model on image data captured by a plurality of cameras, the machine learning model comprising a plurality of layers;
• means for applying a non-linear mapping function to output of one layer of the plurality of layers to generate depth data;
• and
• means for training the machine learning model based on the depth data to generate a trained machine learning model.

A system comprising:

• memory configured to store image data captured by a plurality of cameras;
• and
• one or more processors communicatively coupled to the memory, the one or more processors being configured to:
• execute a machine learning model on the image data, the machine learning model comprising a plurality of layers;
• and
• apply a non-linear mapping function to output of one layer of the plurality of layers to predict depth data.