This is a PyTorch(0.4.1) implementation of Depth Estimation via Affinity Learned with Convolutional Spatial Propagation Network. At present, we can provide train script in NYU Depth V2 dataset for depth completion and monocular depth estimation. KITTI will be available soon!
We re-implement CSPN using Pixel-Adaptive Convolution.
The implementation of multi-gpus is based on inplace abn.
| Method | Implementation details | rml | rmse | log10 | Delta1 | Delta2 | Delta3 |
|---|---|---|---|---|---|---|---|
| Paper | batch size=24 epoch=40 | 0.016 | 0.117 | - | 0.992 | 0.999 | 1.000 |
| Our_impl | batch size=8 iteration=100k | 0.018 | 0.127 | 0.008 | 0.991 | 0.998 | 1.000 |
| Our_CSPN | batch size=8 iteration=100k | 0.018 | 0.127 | 0.008 | 0.991 | 0.998 | 1.000 |
