Self-Supervised Monocular Depth Estimation via Discrete Strategy and Uncertainty

Dear Editor, This letter is concerned with self-supervised monocular depth estimation. To estimate uncertainty simultaneously, we propose a simple yet effective strategy to learn the uncertainty for selfsupervised monocular depth estimation with the discrete strategy that explicitly associates the prediction and the uncertainty to train the networks. Furthermore, we propose the uncertainty-guided feature fusion module to fully utilize the uncertainty information.