Occlusion for Free: Detecting Occlusion from the Disagreement Between Two Monocular Distance Cues

The paper demonstrates that occlusion can be inferred from the disagreement between two monocular distance cues—apparent height and metric depth—without requiring any occlusion labels or training. By comparing the ordering of these cues, the authors achieve high occlusion detection performance on KITTI and synthetic CARLA scenes, outperforming distance alone. The method relies only on a camera‑only pipeline and a depth model whose errors are close to a pure gain, a condition that can be verified without labels.

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