Monocularly Generated 3D High Level Semantic Model by Integrating Deep Learning Models and Traditional Vision Techniques

Scene reconstruction using Monodepth2 (Monocular Depth Inference) which provides depth maps from a single RGB camera, the outputs are filled with noise and inconsistencies. Instance segmentation using a Mask R-CNN (Region Based Convolution Neural Networks) deep model can provide object segmentation results in 2D but lacks 3D information.