KITTI depth data used for training

[daniyar-niantic]

Hi,
I just wanted to ask about the KITTI data: when training the model do you use sparse depth data from the LIDAR pointcloud, or do you use interpolated depthmaps as shown in figure 5 as GT?
Thanks!
Daniyar

[cgebbe]

+1, I have also asked myself that.

Also, could you tell us whether you use the KITTI raw (backprojected LIDAR) or the KITTI depth dataset (generated through post-processing by Uhrig2017)?

[SpadeLiu]

I have the same question. The density of KITTI raw data is about 5%, while that of depth completion dataset is about 30%. Whether it will improve a lot if we train with more dense data?