This is the official implementation of the CVPR24' paper "Mind The Edge: Refining Depth Edges in Sparsely-Supervised Monocular Depth Estimation" by Lior Talker, Aviad Cohen, Erez Yosef, Alexandra Dana and Michael Dinerstein (Samsung Israel Research Center - SIRC).
Paper (ArXiv) | Paper (CVPR24') | Supp (CVPR24') | Poster (CVPR24')
The KITTI Depth Edges (KITTI-DE) and DDAD Depth Edges (DDAD-DE) validation datasets from the paper are provided as binary edge images in data/kitti_de/gt and data/ddad_de/gt. Text lists with a GT image per-line are stored in data/kitti_de/kitti_de_annotated_edges.txt and data/ddad_de/ddad_de_annotated_edges.txt.
The RGB images for KITTI-DE are taken from the KITTI's Semantic Instance Segmentation Evaluation benchmark. The corresponding RGB images have the same filename as the filenames in the KITTI-DE validation set.
The RGB images for DDAD-DE are taken from the DDAD's instance segmentation images in the validation set. (The validation set corresponds to clips 150-199, where in each clip, one image has instance segmentation GT, from which we annotated the depth edge GT.)
To evaluate depth maps (in .npy format) on the KITTI-DE dataset using the AUC (edges) metric (as in Tab.1 in the paper):
python eval_depth_edges.py
--depth_pred_list_path [path_to_pred_npy_name_list]
--depth_pred_dir_path [path_to_dir_with_pred_npy_files]
--depth_edge_gt_list_path data/kitti_de/kitti_de_annotated_edges.txt
--depth_edge_gt_dir_path data/kitti_de/gt- [path_to_pred_npy_name_list] is a path to a txt file with the names only of the predicted depth .npy files.
- [path_to_dir_with_pred_npy_files] is a path to the directory that contains the predicted depth .npy files.
- Note: the order of the predicted depth and the depth edge GT must be the same.
To evaluate depth maps (in .npy format) on the DDAD-DE dataset using the AUC (edges) metric:
python eval_depth_edges.py
--depth_pred_list_path [path_to_pred_npy_name_list]
--depth_pred_dir_path [path_to_dir_with_pred_npy_files]
--depth_edge_gt_list_path data/ddad_de/ddad_de_annotated_edges.txt
--depth_edge_gt_dir_path data/ddad_de/gt
--prec_recall_eval_range_min
0.14
--prec_recall_eval_range_max
0.37- prec_recall_eval_range_min and prec_recall_eval_range_max are the (partial) range in which the edge AUC metric is computed (as in Tab.2 in the paper).