The invention discloses an unsupervised pose and depth calculation method and system. The unsupervised pose and depth calculation method mainly adopts the following modules: a pose prediction networkmodel TNet, a depth estimation network model DMNet, a visual reconstruction model V and an error loss function module. The method includes: calculating a forward motion relative pose and a backward motion relative pose; calculating the depth estimation result of the image and the corresponding depth of the image, summing the reconstruction error, the smoothing error and the twin consistency errorto obtain a loss function, performing iterative updating until the loss function converges, and finally calculating the relative pose and the predicted depth map of the camera according to the trainedmodel Tnet and model DNet.
Unsupervised pose and depth calculation method and system