Online Training of Stereo Self-Calibration Using Monocular Depth Estimation
Bibliographic record
Abstract
Stereo imaging is the most common passive method for producing reliable depth maps. Calibration is a crucial step for every stereo-based system, and despite all the advancements in the field, most calibrations are still done by the same tedious method using a checkerboard target. Monocular-based depth estimation methods do not require extrinsic calibration but generally achieve inferior depth accuracy. In this paper, we present a novel online self-calibration method, which makes use of both stereo and monocular depth maps to find the transformation required for extrinsic calibration by enforcing consistency between both maps. The proposed method works in a closed-loop and exploits the pre-trained networks' global context, and thus avoids feature matching and outliers issues. In addition to presenting our method using an image-based monocular depth estimation method, which can be implemented in most systems without additional changes, we also show that adding a phase-coded aperture mask leads to even better and faster convergence. We demonstrate our method on road scenes from the KITTI vision benchmark and real-world scenes using our prototype camera. Our code is publicly available at https://github.com/YotYot/CalibrationNet.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.005 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".