Im2depth: Scalable Exemplar Based Depth Transfer

Abstract

The rapid increase in number of high quality mobile cameras have opened up an array of new problems in mobile vision. Mobile cameras are predominantly monocular and are devoid of any sense of depth, making them heavily reliant on 2D image processing. Understanding 3D structure of scenes being imaged can greatly improve the performance of existing vision/graphics techniques. In this regard, recent availability of large scale RGB-D datasets beg for more effective data driven strategies to leverage the scale of data. We propose a depth recovery mechanism "im2depth", that is lightweight enough to run on mobile platforms, while leveraging the large scale nature of modern RGB-D datasets. Our key observation is to form a basis (dictionary) over the RGB and depth spaces, and represent depth maps by a sparse linear combination of weights over dictionary elements. Subsequently, a prediction function is estimated between weight vectors in RGB to depth space to recover depth maps from query images. A final superpixel post processor aligns depth maps with occlusion boundaries, creating physically plausible results. We conclude with thorough experimentation with four state of the art depth recovery algorithms, and observe an improvement of over 6.5 percent in shape recovery, and over 10cm reduction in average L1 error.