MobileDepth: Efficient Monocular Depth Prediction on Mobile Devices

摘要

Depth prediction is fundamental for many useful applications on computer vision and robotic systems. On mobile phones, the performance of some useful applications such as augmented reality, autofocus and so on could be enhanced by accurate depth prediction. In this work, an efficient fully convolutional network architecture for depth prediction has been proposed, which uses RegNetY 06 as the encoder and split-concatenate shuffle blocks as decoder. At the same time, an appropriate combination of data augmentation, hyper-parameters and loss functions to efficiently train the lightweight network has been provided. Also, an Android application has been developed which can load CNN models to predict depth map by the monocular images captured from the mobile camera and evaluate the average latency and frame per second of the models. As a result, the network achieves 82.7% δ1 accuracy on NYU Depth v2 dataset and at the same time, have only 62ms latency on ARM A76 CPUs so that it can predict the depth map from the mobile camera in real-time.