Method

Sparse-to-Dense (w/o gt) [Sparse2Dense(w/o gt)]
https://github.com/fangchangma/self-supervised-depth-completion

Submitted on 15 Sep. 2018 23:16 by
Fangchang Ma (MIT)

Running time:0.08 s
Environment:GPU @ 1.5 Ghz (Python + C/C++)

Method Description:
This submission uses both sparse depth
and grayscale images as input, and the network is trained
in a self-supervised fashion without using the ground truth.
It attains a lower but comparable accuracy to the networks
trained with ground truth labels.
Parameters:
trained in a self-supervised fashion, without using the semi-
dense ground truth annotation.
Latex Bibtex:
@article{ma2018self,
title={Self-supervised Sparse-to-Dense: Self-
supervised Depth Completion from LiDAR and
Monocular Camera},
author={Ma, Fangchang and Cavalheiro,
Guilherme Venturelli and Karaman, Sertac},
booktitle={2019 IEEE International Conference on Robotics
and Automation (ICRA)},
year={2019},
organization={IEEE}
}

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Sparsity Invariant CNNs (THREEDV 2017), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Sparsity Invariant CNNs (THREEDV 2017), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

iRMSE iMAE RMSE MAE
Error 4.07 1.57 1299.85 350.32
This table as LaTeX

Test Image 0

iRMSE iMAE RMSE MAE
Error 4.09 1.41 1557.72 342.09
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

iRMSE iMAE RMSE MAE
Error 5.59 2.08 1267.97 239.40
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

iRMSE iMAE RMSE MAE
Error 2.75 1.75 2472.77 629.57
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

iRMSE iMAE RMSE MAE
Error 4.30 2.34 1167.97 378.63
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

iRMSE iMAE RMSE MAE
Error 5.74 2.19 808.33 300.01
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

iRMSE iMAE RMSE MAE
Error 5.63 1.77 1547.75 340.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

iRMSE iMAE RMSE MAE
Error 13.85 3.10 2129.86 406.08
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

iRMSE iMAE RMSE MAE
Error 5.27 2.17 1732.78 299.91
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

iRMSE iMAE RMSE MAE
Error 4.63 1.30 1253.11 297.23
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

iRMSE iMAE RMSE MAE
Error 2.89 1.51 1300.07 353.83
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

iRMSE iMAE RMSE MAE
Error 2.27 1.51 1642.73 473.31
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

iRMSE iMAE RMSE MAE
Error 4.25 1.69 1959.52 640.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

iRMSE iMAE RMSE MAE
Error 11.60 3.62 2032.66 531.49
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

iRMSE iMAE RMSE MAE
Error 1.94 1.17 1156.52 282.99
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

iRMSE iMAE RMSE MAE
Error 4.82 1.70 892.73 259.31
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

iRMSE iMAE RMSE MAE
Error 5.38 2.31 780.98 276.00
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

iRMSE iMAE RMSE MAE
Error 2.29 1.13 897.65 290.96
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

iRMSE iMAE RMSE MAE
Error 2.29 1.12 1009.24 274.09
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

iRMSE iMAE RMSE MAE
Error 3.01 1.25 1156.24 359.51
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

iRMSE iMAE RMSE MAE
Error 1.91 1.22 1218.18 326.91
This table as LaTeX

Input Image

D1 Result

D1 Error




eXTReMe Tracker