About the depth volume predicted by the mono depth

[EchoTHChen]

I have a question. mu + k*sigma might be negative. The depth volume constructed by negative depth might bring some errors to the training results. How do the depth volume work and keep positive?

[baegwangbin]

Hi, thanks for your interest.

Yes, this can happen. But in practice, the estimated 'mu' is positive (usually > 1m) and the scale of 'sigma' is significantly smaller than that of 'mu' - so 'mu + k*sigma' stays positive.