July 2020
tl;dr: Introduce BA-Net into SfM learner.
The paper looks to be SOTA compared to the papers it cites. However the performance looks on par with monodepth2. The performance is actually not as good as BA-Net on KITTI.
The paper spent too much texts on explaining the existing work of BA-Net. The main innovation of the paper seems to be using poseNet to provide a good initial guess of the camera pose.