SYSTEM AND METHOD FOR SELF-SUPERVISED MONOCULAR GROUND-PLANE EXTRACTION

Systems and methods for extracting ground plane information directly from monocular images using self-supervised depth networks are disclosed. Self-supervised depth networks are used to generate a three-dimensional reconstruction of observed structures. From this reconstruction the system may generate surface normals. The surface normals can be calculated directly from depth maps in a way that is much less computationally expensive and accurate than surface normals extraction from standard LiDAR data. Surface normals facing substantially the same direction and facing upwards may be determined to reflect a ground plane.