Dynamo-Depth: Fixing Unsupervised Depth Estimation for Dynamical Scenes

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Official PyTorch implementation for the NeurIPS 2023 paper: "Dynamo-Depth: Fixing Unsupervised Depth Estimation for Dynamical Scenes".

Table of Contents

• Installation
• Quick Demo
• Data Preparation
• Training
  • Single-GPU
  • Multi-GPU
• Evaluation
  • Depth
  • Motion Segmentation
  • Odometry
  • Visualization
• Citation

Installation

The code is tested with python=3.7, torch==1.12.1+cu102 and torchvision==0.13.1+cu102 on four RTX 2080 Ti GPUs.

git clone --recurse-submodules https://github.com/YihongSun/Dynamo-Depth/
cd Dynamo-Depth/
conda create -n dynamo python=3.7
conda activate dynamo
pip install torch==1.12.1 torchvision==0.13.1
pip install matplotlib wandb opencv-python tqdm gdown scikit-image timm==0.6.13
pip install imageio==2.19.3
pip install imageio-ffmpeg==0.4.7

Quick Demo

Please run quick-demo.ipynb for a quick example inference (This can be used directly after installations).

Data Preparation

Please refer to the preprocessing instructions for preparing training data for KITTI, Waymo Open, or nuScenes Dataset.

Training

Training can be done with a single GPU or multiple GPUs (via torch.nn.parallel.DistributedDataParallel)

The following are a set of shared arguments to use with any training method.

• -n <EXP_NAME> indicates the name of the experiment.
• -d <DATASET_NAME> specifies which dataset ("waymo", "nuscenes", or "kitti") to train on, and the default is "waymo".
• -l </PATH/TO/MODEL/CKPT> indicates which model checkpoint to be load before training.
• --depth_model <MODEL_NAME> specifies which depth model ("litemono" or "monodepthv2") to train, with default "litemono".

⏳ Single GPU Training

For instance, to train w/ 1 GPU on Waymo Dataset from scratch:

python3 train.py -d waymo -n waymo_example_run 

⏳ Multi-GPU Training

For instance, to train w/ 4 GPUs on Waymo Dataset

python -m torch.distributed.launch --nproc_per_node=4 train.py --cuda_ids 0 1 2 3 -d waymo -n waymo_example_run_parallel 

Note: All experiments are ran with 4 RTX 2080 Ti GPUs via torch.nn.parallel.DistributedDataParallel. Learning rate and scheduler step size should be adjusted accordingly when training with a single GPU (See options.py for details).

Evaluation

Scripts for evaluation are found in eval/, including depth, motion segmentation, odometry, and visualization.

The following are a set of shared arguments to use with any of the evaluation scripts above.

• -l </PATH/TO/MODEL/CKPT> indicates which model checkpoint to be evaluated.
• --depth_model <MODEL_NAME> specifies which depth model ("litemono" or "monodepthv2") to use, with default "litemono".
• -d <DATASET_NAME> specifies which dataset ("waymo", "nuscenes", or "kitti") to evaluate on, and the default is "waymo".
• --eval_dir defines the output directory where the results would be saved, with default "./outputs".

Note: To access the trained models for Waymo Open, please fill out the Google Form, and raise an issue if we don't get back to you in two days. Please note that Waymo open dataset is under strict non-commercial license so we are not allowed to share the model with you if it will used for any profit-oriented activities.

📊 Depth

eval/depth.py evaluates monocular depth estimation, with results saved in ./outputs/<CKPT>_<DATASET>/depth/.

🔹 To replicate the results reported in the paper (Table 1 and 2), run the following lines.

## === Missing checkpoints will be downloaded automatically === ##

python3 eval/depth.py -l ckpt/W_Dynamo-Depth                                  ## please fill out the form for ckpt!!
python3 eval/depth.py -l ckpt/W_Dynamo-Depth_MD2 --depth_model monodepthv2    ## please fill out the form for ckpt!!
python3 eval/depth.py -l ckpt/N_Dynamo-Depth -d nuscenes
python3 eval/depth.py -l ckpt/N_Dynamo-Depth_MD2 --depth_model monodepthv2 -d nuscenes
python3 eval/depth.py -l ckpt/K_Dynamo-Depth -d kitti
python3 eval/depth.py -l ckpt/K_Dynamo-Depth_MD2 --depth_model monodepthv2 -d kitti

Model	Dataset	Abs Rel	Sq Rel	RMSE	RMSE log	delta < 1.25	delta < 1.252	delta < 1.253
K_Dynamo-Depth_MD2	KITTI	0.120	0.864	4.850	0.195	0.858	0.956	0.982
K_Dynamo-Depth(*)	KITTI	0.112	0.768	4.528	0.184	0.874	0.961	0.984
N_Dynamo-Depth_MD2	nuScenes	0.193	2.285	7.357	0.287	0.765	0.885	0.935
N_Dynamo-Depth	nuScenes	0.179	2.118	7.050	0.271	0.787	0.896	0.940
W_Dynamo-Depth_MD2(†)	Waymo	0.130	1.439	6.646	0.183	0.851	0.959	0.985
W_Dynamo-Depth(†)	Waymo	0.116	1.156	6.000	0.166	0.878	0.969	0.989

(*) Very minor differences compared to the results in the paper. Rest of the checkpoints are consistent with the paper.
(†) Please refer to the note above for obtaining access to the models trained on Waymo Open Dataset.

🔹 To replicate the results reported in the Appendix (Table 6 and 7), run the following lines.

## === Missing checkpoints will be downloaded automatically === ##

python3 eval/depth.py -l ckpt/N_Dynamo-Depth -d nuscenes --split nuscenes_dayclear
python3 eval/depth.py -l ckpt/N_Dynamo-Depth_MD2 --depth_model monodepthv2 -d nuscenes --split nuscenes_dayclear

Note that by adding --split nuscenes_dayclear, we evaluate on the nuScenes day-clear subset as defined in splits/nuscenes_dayclear/test_files.txt instead of the original splits/nuscenes/test_files.txt

📊 Motion Segmentation

eval/motion_segmentation.py evaluates binary motion segmentation, with results saved in ./outputs/<CKPT>_<DATASET>/mot_seg/.

🔹 To replicate the results reported in the paper (Figure 4 and 8), run the following line.

## === Missing checkpoints will be downloaded automatically === ##

python3 eval/motion_segmentation.py -l ckpt/W_Dynamo-Depth                         ## please fill out the form for ckpt!!
python3 eval/motion_segmentation.py -l ckpt/N_Dynamo-Depth -d nuscenes --split nuscenes_dayclear

📊 Odometry

eval/odometry.py evaluates odometry, with results saved in ./outputs/<CKPT>_<DATASET>/odometry/.

🔹 To replicate the results reported in the Appendix (Table 8), run the following line.

## === Missing checkpoints will be downloaded automatically === ##

python3 eval/odometry.py -l ckpt/W_Dynamo-Depth                                    ## please fill out the form for ckpt!!                                  
python3 eval/odometry.py -l ckpt/W_Dynamo-Depth_MD2 --depth_model monodepthv2      ## please fill out the form for ckpt!!     
python3 eval/odometry.py -l ckpt/N_Dynamo-Depth -d nuscenes --split nuscenes_dayclear
python3 eval/odometry.py -l ckpt/N_Dynamo-Depth_MD2 --depth_model monodepthv2 -d nuscenes --split nuscenes_dayclear

🖼️ Visualization

eval/visualize.py visualize model performances, with results saved in ./outputs/<CKPT>_<DATASET>/vis/.

🔹 To generate the Qualitative Results in the Project Page, run the following line.

## === Missing checkpoints will be downloaded automatically === ##

python3 eval/visualize.py -l ckpt/W_Dynamo-Depth                                   ## please fill out the form for ckpt!!     
python3 eval/visualize.py -l ckpt/N_Dynamo-Depth -d nuscenes

Citation

If you find our work useful in your research, please consider citing our paper:

@inproceedings{sun2023dynamodepth,
  title={Dynamo-Depth: Fixing Unsupervised Depth Estimation for Dynamical Scenes},
  author={Yihong Sun and Bharath Hariharan},
  booktitle={Thirty-seventh Conference on Neural Information Processing Systems},
  year={2023}
}