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CostDCNet

This repository contains the accompanying code for CostDCNet: Cost Volume based Depth Completion for a Single RGB-D Image, ECCV'22

Overview

Successful depth completion from a single RGB-D image requires both extracting plentiful 2D and 3D features and merging these heterogeneous features appropriately. We propose a novel depth completion framework, CostDCNet, based on the cost volume-based depth estimation approach that has been successfully employed for multi-view stereo (MVS). The key to high-quality depth map estimation in the approach is constructing an accurate cost volume. To produce a quality cost volume tailored to single-view depth completion, we present a simple but effective architecture that can fully exploit the 3D information, three options to make an RGB-D feature volume, and a per-plane pixel shuffle for efficient volume upsampling. Our framework consists of lightweight (~1.8M parameters) deep neural networks, running in real time (~30ms). Nevertheless, thanks to our simple but effective design, CostDCNet demonstrates depth completion results comparable to or better than the state-of-the-art (SOTA) methods.

Getting Started

Prerequisites

Ubuntu 18.06 or higher
CUDA 11.1 or higher
pytorch 1.8 or higher
python 3.8 or higher

Environment Setup (Anaconda)

We recommend using Anaconda

conda create -n costDCNet python==3.8.12
conda activate costDCNet
conda install openblas-devel -c anaconda
conda install pytorch==1.8.0 torchvision==0.9.0 torchaudio==0.8.0 cudatoolkit=11.1 -c pytorch -c conda-forge
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include" --install-option="--blas=openblas"
pip install -r requirements.txt

Testing (NYUv2)

We used preprocessed NYUv2 dataset like NLSPN.

python eval_nyu.py --data_path PATH_TO_NYUv2

License

This software is being made available under the terms in the LICENSE file.

Any exemptions to these terms requires a license from the Pohang University of Science and Technology.

Useful Links

POSTECH CG Lab.

Citing CostDCNet

@inproceedings{kam2022costdcnet,
  title={CostDCNet: Cost Volume Based Depth Completion for a Single RGB-D Image},
  author={Kam, Jaewon and Kim, Jungeon and Kim, Soongjin and Park, Jaesik and Lee, Seungyong},
  booktitle={Computer Vision--ECCV 2022: 17th European Conference, Tel Aviv, Israel, October 23--27, 2022, Proceedings, Part II},
  pages={257--274},
  year={2022},
  organization={Springer}
}

Related projects

NOTE : Our implementation is based on the repositories as: