4. Normalize the depth maps
• Transform depth into a canonical scale-and-shift invariant (SSI) space
5. Problems of Instance Norm.
• Always estimating the relations of pixels to the whole scene
• Always squeeze fine-grained difference
• Good at overall structure, poor at details.
6.
7.
8. HDN in spatial domain
Divide the image plane into 1*1, 2*2, 4*4, 8*8 Grids, and apply normalization
9. HDN in depth domain
HDN-DR: Divide the Depth Range into {1,2,4,8 …}
groups, and apply norm. to each group
HDN-DP: Sort all pixels based on ground truth,
and group pixels evenly based on depth values