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CNN-DSO: A combination of Direct Sparse Odometry and CNN Depth Prediction

1. Overview

<p align="center"> <img src="https://github.com/muskie82/CNN-DSO/blob/master/gif/demo.gif" width="500" height="320"> </p>

This code provides a combination of DSO and Monodepth. For every keyframe, depth values are initialized with the prediction from Monodepth.

Absolute keyframe trajectory RMSE (in meter) on KITTI dataset (DSO and ORB-SLAM numbers are from CNN-SVO paper)

Sequence on KITTICNN-DSODSOORB-SLAM
0015.13113.1877.95
015.901XX
0212.53116.8141.00
031.5161.39431.018
040.1000.4220.930
0520.347.4640.35
061.54755.6152.22
078.36916.7116.54
0810.53111.0851.62
0914.0052.2258.17
104.1011.0918.47

2. Installation

2.1 Dependencies

DSO
Monodepth

2.3 Build

3 Usage

In addition to original DSO command line, you should specify the path to pre-trained model by cnn.

	bin/dso_dataset \
		files=XXXXX/sequence_XX/image_0 \
		calib=XXXXX/sequence_XX/camera.txt \
		cnn=XXXXX/model_city2kitti.pb \
		preset=0 \
		mode=1

4 Reference

5 License

GPLv3 license. I don't take any credit from DSO, Monodepth and monodepth-cpp. Please check them.