Consistent Depth of Moving Objects in Video
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1 Google Research | |
2 MIT | |
3 Weizmann Institute of Science |
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Our method estimates geometrically and temporally consistent depth from a general video containing fast-moving objects and camera motion. The input video (a) contains a continuous camera dolly motion following the moving person and puppy. This is a difficult case for depth estimation due to the correlated motion between camera and subject. The video is shown reprojected into the camera at frame t using our predicted depth (b), with disparity maps of the re-projection shown below (c). On the bottom: x-t slices for the horizontal line marked in red on frame t in (a). (d) The slice of the original video (top) shows both camera and objects' motion (slanted lines in the background, twisted lines in the foreground). The slices of the re-projected frames(e)(f) show the camera fixed relative to the background (vertical lines), and foreground objects moving relative to the camera (twisted lines). |
Abstract
We present a method to estimate depth of a dynamic scene, containing arbitrary moving objects,
from an ordinary video captured with a moving camera. We seek a geometrically and temporally consistent
solution to this underconstrained problem: the depth predictions of corresponding points across frames
should induce plausible, smooth motion in 3D. We formulate this objective in a new test-time training
framework where a depth-prediction CNN is trained in tandem with an auxiliary scene-flow prediction
MLP over the entire input video. By recursively unrolling the scene-flow prediction MLP over varying
time steps, we compute both short-range scene flow to impose local smooth motion priors directly in
3D, and long-range scene flow to impose multi-view consistency constraints with wide baselines.
We demonstrate accurate and temporally coherent results on a variety of challenging videos
containing diverse moving objects (pets, people, cars), as well as camera motion.
Our depth maps give rise to a number of depth-and-motion aware video editing effects
such as object and lighting insertion.
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Paper
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Consistent Depth of Moving Objects in Video |
Supplementary Material
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Code
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[code] |
BibTeX
@article{zhang2021consistent,
title={Consistent depth of moving objects in video},
author={Zhang, Zhoutong and Cole, Forrester and Tucker, Richard and Freeman, William T
and Dekel, Tali},
journal={ACM Transactions on Graphics (TOG)},
volume={40},
number={4},
pages={1--12},
year={2021},
publisher={ACM New York, NY, USA}
}
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