Abstract: An image processing system to estimate depth for a scene. The image processing system includes a fusion engine to receive a first depth estimate from a geometric reconstruction engine and a second depth estimate from a neural network architecture. The fusion engine is configured to probabilistically fuse the first depth estimate and the second depth estimate to output a fused depth estimate for the scene. The fusion engine is configured to receive a measurement of uncertainty for the first depth estimate from the geometric reconstruction engine and a measurement of uncertainty for the second depth estimate from the neural network architecture, and use the measurements of uncertainty to probabilistically fuse the first depth estimate and the second depth estimate.

Abstract: An image processing system configured to obtain a mesh representation of a scene, wherein the mesh representation comprises a plurality of polygons defined by respective vertices associated with an in-plane position, the in-plane position being in a plane comprising a first dimension and a second dimension, and the vertices having an associated vertex depth value in a third dimension different from the first dimension and the second dimension. The image processing system comprises an in-plane position estimation network configured to process image data representative of an image of the scene to estimate the in-plane positions associated with respective vertices of the mesh representation. The image processing system further comprises a depth estimation engine configured to process the in-plane positions and the image data to estimate the associated vertex depth values for the respective vertices of the mesh representation.

Abstract: An image processing system to estimate depth for a scene. The image processing system includes a fusion engine to receive a first depth estimate from a geometric reconstruction engine and a second depth estimate from a neural network architecture. The fusion engine is configured to probabilistically fuse the first depth estimate and the second depth estimate to output a fused depth estimate for the scene. The fusion engine is configured to receive a measurement of uncertainty for the first depth estimate from the geometric reconstruction engine and a measurement of uncertainty for the second depth estimate from the neural network architecture, and use the measurements of uncertainty to probabilistically fuse the first depth estimate and the second depth estimate.