Attention-Based Background/Foreground Monocular Depth Prediction Model Using Image Segmentation

While many monocular depth estimation methods have been proposed, determining depth variations in outdoor scenes remains challenging. Accordingly, this paper proposes an image segmentation-based monocular depth estimation model with attention mechanisms that can address outdoor scene variations. The segmentation model segments images into foreground and background regions and individually predicts depth maps. Moreover, attention mechanisms are also adopted to extract meaningful features from complex scenes to improve foreground and background depth map prediction via a multi-scale decoding scheme. From our experimental results, we observed that our proposed model outperformed previous methods by 27.5% on the KITTI dataset.