iDisc Model Zoo and Baselines

June 19, 2023 · View on GitHub

Introduction

Here is the collection of all models whose namespace is compatible with the current repo. We store the output predictions with the same relative path as the depth path from the corresponding dataset. For evaluation we used micro averaging, other repo might use macro averaging, the difference is in the order of decimals of percentage points, but we found it more appropriate for dataset with uneven density distributions due to, e.g., pointcloud accumulation. Please note that the depth is rescaled as in the original dataset to be stored as .png. In particular to obtain metric depth you need to divide NYUv2 results by 1000, and all other datasets by 256. Normals need to be rescaled from [0, 255] to [-1, 1]. Predictions are not interpolated, that is the output shape is one quarter of input shape.

KITTI

Backbone	d0.5	d1	d2	RMSE	RMSE log	A.Rel	Sq.Rel	Config	Weights	Predictions
Resnet101	0.860	0.965	0.996	2.362	0.090	0.059	0.197	config	weights	predictions
EfficientB5	0.852	0.963	0.994	2.510	0.094	0.063	0.223	config	weights	predictions
Swin-Tiny	0.870	0.968	0.996	2.291	0.087	0.058	0.184	config	weights	predictions
Swin-Base	0.885	0.974	0.997	2.149	0.081	0.054	0.159	config	weights	predictions
Swin-Large	0.896	0.977	0.997	2.067	0.077	0.050	0.145	config	weights	predictions

NYUv2

Backbone	d1	d2	d3	RMSE	A.Rel	Log10	Config	Weights	Predictions
Resnet101	0.892	0.983	0.995	0.380	0.109	0.046	config	weights	predictions
EfficientB5	0.903	0.986	0.997	0.369	0.104	0.044	config	weights	predictions
Swin-Tiny	0.894	0.983	0.996	0.377	0.109	0.045	config	weights	predictions
Swin-Base	0.926	0.989	0.997	0.327	0.091	0.039	config	weights	predictions
Swin-Large	0.940	0.993	0.999	0.313	0.086	0.037	config	weights	predictions

Normals

Results may differ (~0.1%) due to micro vs. macro averaging and bilinear vs. bicubic interpolation.

Backbone	11.5	22.5	30	RMSE	Mean	Median	Config	Weights	Predictions
Swin-Large	0.637	0.796	0.855	22.9	14.6	7.3	config	weights	predictions

DDAD

Backbone	d1	d2	d3	RMSE	RMSE log	A.Rel	Sq.Rel	Config	Weights	Predictions
Swin-Large	0.809	0.934	0.971	8.989	0.221	0.163	1.85	config	weights	predictions

Argoverse

Backbone	d1	d2	d3	RMSE	RMSE log	A.Rel	Sq.Rel	Config	Weights	Predictions
Swin-Large	0.821	0.923	0.960	7.567	0.243	0.163	2.22	config	weights	predictions