Abstract
A depth estimating apparatus operated by at least one processor includes: a database which stores a photographed first color image, a training thermal image geometrically aligned with the first color image, and a second color image simultaneously photographed with the first color image as a training image set; and a training apparatus which trains a neural network in an unsupervised manner to output a chromaticity image and a binocular disparity image from the training thermal image. The training apparatus generates an estimated first color image from the second color image, the chromaticity image, and the binocular disparity image, and trains the neural network to minimize a difference between the estimated first color image and the photographed first color image.