Estimating Depth of Monocular Panoramic Image with Teacher-Student Model Fusing Equirectangular and Spherical Representations

Abstract

Disconnectivity and distortion are the two problems which must be coped with when processing 360 degrees equirectangular images. In this paper, we propose a method of estimating the depth of monocular panoramic image with a teacher-student model fusing equirectangular and spherical representations. In contrast with the existing methods fusing an equirectangular representation with a cube map representation or tangent representation, a spherical representation is a better choice because a sampling on a sphere is more uniform and can also cope with distortion more effectively. In this processing, a novel spherical convolution kernel computing with sampling points on a sphere is developed to extract features from the spherical representation, and then, a Segmentation Feature Fusion(SFF) methodology is utilized to combine the features with ones extracted from the equirectangular representation. In contrast with the existing methods using a teacher-student model to obtain a lighter model of depth estimation, we use a teacher-student model to learn the latent features of depth images. This results in a trained model which estimates the depth map of an equirectangular image using not only the feature maps extracted from an input equirectangular image but also the distilled knowledge learnt from the ground truth of depth map of a training set. In experiments, the proposed method is tested on several well-known 360 monocular depth estimation benchmark datasets, and outperforms the existing methods for the most evaluation indexes.