README.md
March 13, 2025 · View on GitHub
UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots
<img src=/data/udepth.gif width=53% /> <img src=/data/udepth.jpeg width=45.5% />
Pointers
- Preprint: https://arxiv.org/pdf/2209.12358.pdf
- Video demonstration: https://youtu.be/lNK90c5ofVQ
<img src=/data/RMI_space.jpeg width=55% /> <img src=/data/RMI_next.jpeg width=38% />
Model and test scripts
- The UDepth model architecture is in model/udepth.py
- The saved models are in saved_model
- UDepth inference on USOD10K dataset: use test_usod10k.py
- UDepth inference on other images: use inference.py
- Domain projection inference on USOD10K dataset: use test_usod10k_proj.py
- Domain projection inference on other images: use inference_proj.py
Bibliography entry:
@inproceedings{yu2022udepth,
author={Yu, Boxiao and Wu, Jiayi and Islam, Md Jahidul},
title={UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
organization={IEEE}
}