This is the official implementation for training and testing depth estimation using the model proposed in
HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation
Xiaoyang Lyu, Liang Liu, Mengmeng Wang, Xin Kong, Lina Liu, Yong Liu*, Xinxin Chen and Yi Yuan.
This paper has been accepted by AAAI 2021.
Note: We temporarily release the evaluation version and some pretrained models of our paper. The training codes are modified according to Monodepth2, and we will release them soon.
2021.1.27
- The training code will be released around the beginning of the March.
- For re-implementing HR-Depth, you can clone Monodepth2 and simply replace the
DepthDecoderwithHRDepthDecoder. Our parameter settings are exactly the same as Monodepth2. - In our paper, we wrote the initial learning rate wrong. It should be 1e-4, not 1e-3. We will fix this mistake in the final version. Thanks for someone pointing out our problem.
Assuming a fresh Anaconda distribution, you can install the dependencies with:
conda install pytorch=1.5.0 torchvision=0.6.0 -c pytorch
conda install opencv=4.2
pip install scipy=1.4.1We provided pretrained model as follow:
| Model Name | Resolution | Dataset | Supervision | Abs_Rel | |||
|---|---|---|---|---|---|---|---|
| HR_Depth_CS_K_MS_$640\times192$ | CS+K | MS | 0.104 | 0.893 | 0.964 | 0.983 | |
| HR_Depth_K_MS_$1024\times320$ | K | MS | 0.101 | 0.899 | 0.966 | 0.983 | |
| HR_Depth_K_M_$1280\times384$ | K | M | 0.104 | 0.894 | 0.966 | 0.984 | |
| Lite_HR_Depth_K_T_$1280\times384$ | K | T | 0.104 | 0.893 | 0.967 | 0.985 |
You can download the entire KITTI_raw dataset by running:
wget -i splits/kitti_archives_to_download.txt -P kitti_data/Then unzip with
cd kitti_data
unzip "*.zip"
cd ..Warning: The size of this dataset is about 175GB, so make sure you have enough space to unzip them.
--data_path: path of KITTI dataset
--load_weights_folder: path of models
--HR_Depth: inference by HR-Depth
--Lite_HR_Depth: inference by Lite-HR-Depth
To prepare the ground truth depth maps run:
python export_gt_depth.py --data_path ./kitti_RAWassuming that you have placed the KITTI RAW dataset in the default location of ./kitti_data.
For HR-Depth:
python evaluate_depth.py --data_path ./kitti_RAW --load_weights_folder ./models/HR_Depth_CS_K_MS_640x192 --HR_Depth
python evaluate_depth.py --data_path ./kitti_RAW --load_weights_folder ./models/HR_Depth_K_M_1280x384 --HR_Depth For Lite-HR-Depth:
python evaluate_depth.py --data_path ./kitti_RAW --load_weights_folder ./models/Lite_HR_Depth_K_T_1280x384 --Lite_HR_Depth