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Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many other options and avoids the need for continuous calibration strategies as required by stereo-vision approaches. State-of-theart methods for Monocular Depth Estimation are based on Convolutional Neural Networks (CNNs). A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixelwise semantic labels, which usually are difficult to annotate (e.g. crowded urban images). Moreover, so far it is common practice to assume that the same raw training data is associated with both types of ground truth, i.e., depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, i.e., that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming stateof-the-art results on Monocular Depth Estimation.

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In this paper, we focus on Exposure Fusion (EF) [16] for dynamic scenes. The task is to fuse multiple images obtained by exposure bracketing to create an image which comprises a high level of details. Typically, such images are not possible to obtain directly from a camera due to hardware limitations, e.g., a limited dynamic range of the sensor. A major problem of such tasks is that the images may not be spatially aligned due to scene motion or camera motion. It is known that the required alignment by image registration problems is ill-posed. In this case, the images to be aligned vary in their intensity range, which makes the problem even more difficult.To address the mentioned problems, we propose an endto-end Convolutional Neural Network (CNN) based approach to learn to estimate exposure fusion from 2 and 3 Low Dynamic Range (LDR) images depicting different scene contents. To the best of our knowledge, no efficient and robust CNN-based end-to-end approach can be found in the literature for this kind of problem. The idea is to create a dataset with perfectly aligned LDR images to obtain ground-truth exposure fusion images. At the same time, we obtain additional LDR images with some motion, having the same exposure fusion ground-truth as the perfectly aligned LDR images. This way, we can train an end-toend CNN having misaligned LDR input images, but with a proper ground truth exposure fusion image. We propose a specific CNN-architecture to solve this problem. In various experiments, we show that the proposed approach yields excellent results.