## Self-supervised depth and ego motion estimation

3D Packing for Self-Supervised Monocular Depth Estimation by Vitor Guizilini, pdf at arxiv, 2020 Learning Depth estimator fD : I → D Ego motion estimator: fx : (It, IS) → xt → S Depth Estimator They predict an inverse depth and use a packnet architecture. Inverse depth probably has more stable results. Points far away from camera have small inverse depth that with low precision. The nearer points have more information...