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Depth Uncertainty leading to negative loss #38

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AlexanderSing opened this issue Dec 2, 2021 · 0 comments
Open

Depth Uncertainty leading to negative loss #38

AlexanderSing opened this issue Dec 2, 2021 · 0 comments

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@AlexanderSing
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Hey everyone, first of all thank you for your amazing work!
I have a question reagarding the depth uncertainty:
If I'm not mistaken using the depth uncertainty can lead to negative loss values, if the loss is low and the uncertainty is a large negative value e.g.:

If the depth loss is 0.0001 and the uncertainty (log(sigma^2)) is -10 this would lead to a loss of ~-7.8.

0.0001*exp(10) - 10 = 7.79...

Is this desired behaviour? If yes, could you explain the reasoning? If no, how does one prevent this? And also if I understood something wrong help is appreciated.

Best regards

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