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Kick Back & Relax: Learning to Reconstruct the World by Watching SlowTV

This repository contains the code associated with the following publications:

Kick Back & Relax: Learning to Reconstruct the World by Watching SlowTV

Jaime Spencer, Chris Russell, Simon Hadfield and Richard Bowden

ArXiv (ICCV 2023)

Deconstructing Self-Supervised Monocular Reconstruction: The Design Decisions that Matter

Jaime Spencer, Chris Russell, Simon Hadfield and Richard Bowden

ArXiv (TMLR 2022)

We have organized several monocular depth prediction challenges around the proposed SYNS-Patches dataset. Check the MDEC website for details on previous editions!

image_0026 image_0254 image_0698 depth_0026 depth_0254 depth_0698

image_0026 image_0254 image_0698 depth_0026 depth_0254 depth_0698

Project Structure

  • .git-hooks: Dir containing a pre-commit hook for ignoring Jupyter Notebook outputs.
  • api: Dir containing main scripts for training, evaluating and data preparation.
  • assets Dir containing images used in README.
  • cfg Dir containing config files for training/evaluating.
  • docker Dir containing Dockerfile and Anaconda package requirements.
  • data*: (Optional) Dir containing datasets.
  • hpc: (Optional) Dir containing submission files to HPC clusters.
  • models*: (Optional) Dir containing trained model checkpoints.
  • results*: Dir containing the precomputed results used in the paper.
  • src: Dir containing source code.
  • .gitignore: File containing patterns ignored by Git.
  • PATHS.yaml*: File containing additional data & model roots.
  • README.md: This file!

* Not tracked by Git!

Pretrained Checkpoints

You can download the pretrained full model from the following DropBox link:

We also provide a minium-requirements script to load a pretrained model and compute predictions on a directory of images. This is probably what you want if you just want to try out the model, as opposed to training it yourself. Code illustrating how to align the predictions to a ground-truth depth map can be found here.

The only requirements for running the model are: timm, torch and numpy

MapFreeReloc

You can download the val/test MapFreeReloc predictions for our public model from:

These can be used in your own MapFreeReloc submission to replace the baseline DPT+KITTI. Please remember to cite us if doing so!

Getting Started

Each section of the code has its own README file with more detailed instructions. Follow them only after having carried out the remaining steps in this section.

PYTHONPATH

Remember to add the path to the repo to the PYTHONPATH in order to run the code.

# Example for `bash`. Can be added to `~/.bashrc`.
export PYTHONPATH=/path/to/slowtv_monodepth:$PYTHONPATH

Git Hooks

First, set up a GitHub pre-commit hook that stops us from committing Jupyter Notebooks with outputs, since they may potentially contain large images.

./.git-hooks/setup.sh
chmod +x .git/hooks/pre-commit  # File sometimes isn't copied as executable. This should fix it.

Anaconda

If using Miniconda, create the environment and run commands as

ENV_NAME=slowtv
conda env create --file docker/environment.yml
conda activate $ENV_NAME
python api/train/train.py ...

Docker

To instead build the Docker image, run

docker build -t $ENV_NAME ./docker
docker run -it \
    --shm-size=24gb \
    --gpus all \
    -v $(pwd -P):$(pwd -P) \
    -v /path/to/dataroot1:/path/to/dataroot1 \
    --user $(id -u):$(id -g) \
    $ENV_NAME:latest \
    /bin/bash

python api/train/train.py ...

Paths

The default locations for datasets and model checkpoints are ./data & ./models, respectively. If you want to store them somewhere else, you can either create symlinks to them, or add additional roots. This is done by creating the ./PATHS.yaml file with the following contents:

# -----------------------------------------------------------------------------
MODEL_ROOTS: 
  - /path/to/modelroot1

DATA_ROOTS:
  - /path/to/dataroot1
  - /path/to/dataroot2
  - /path/to/dataroot3
# -----------------------------------------------------------------------------

NOTE: This file should not be tracked by Git, as it may contain sensitve information about your machine.

Multiple roots may be useful if training in an HPC cluster where data has to be copied locally. Roots should be listed in order of preference, i.e. dataroot1/kitti_raw_syns will be given preference over dataroot2/kitti_raw_syns.

Results

We provide the YAML files containing the precomputed results used in the paper. These should be copied over to the ./models directory (or any desired root) in order to follow the structure required by the evaluation and table-generating scripts.

cp -r ./results/* ./models

Citation

If you used the code in this repository or found the papers interesting, please cite them as

@inproceedings{spencer2023slowtv,
title={Kick Back & Relax: Learning to Reconstruct the World by Watching SlowTV},
author={Jaime Spencer and Chris Russell and Simon Hadfield and Richard Bowden},
booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
year={2023}
}

@article{spencer2022deconstructing,
title={Deconstructing Self-Supervised Monocular Reconstruction: The Design Decisions that Matter},
author={Jaime Spencer and Chris Russell and Simon Hadfield and Richard Bowden},
journal={Transactions on Machine Learning Research},
issn={2835-8856},
year={2022},
url={https://openreview.net/forum?id=GFK1FheE7F},
note={Reproducibility Certification}
}

References

We would also like to thank the authors of the papers below for their contributions and for releasing their code. Please consider citing them in your own work.

Tag Title Author Conf ArXiv GitHub
Garg Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue Garg et. al ECCV 2016 ArXiv GitHub
Monodepth Unsupervised Monocular Depth Estimation with Left-Right Consistency Godard et. al CVPR 2017 ArXiv GitHub
Kuznietsov Semi-Supervised Deep Learning for Monocular Depth Map Prediction Kuznietsov et. al CVPR 2017 ArXiv GitHub
SfM-Learner Unsupervised Learning of Depth and Ego-Motion from Video Zhou et. al CVPR 2017 ArXiv GitHub
Depth-VO-Feat Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction Zhan et. al CVPR 2018 ArXiv GitHub
DVSO Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry Yang et. al ECCV 2018 ArXiv
Klodt Supervising the new with the old: learning SFM from SFM Klodt & Vedaldi ECCV 2018 CVF
MonoResMatch Learning monocular depth estimation infusing traditional stereo knowledge Tosi et. al CVPR 2019 ArXiv GitHub
DepthHints Self-Supervised Monocular Depth Hints Watson et. al ICCV 2019 ArXiv GitHub
Monodepth2 Digging Into Self-Supervised Monocular Depth Estimation Godard et. al ICCV 2019 ArXiv GitHub
SuperDepth SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimation Pillai et. al ICRA 2019 ArXiv GitHub
Johnston Self-supervised Monocular Trained Depth Estimation using Self-attention and Discrete Disparity Volume Johnston & Carneiro CVPR 2020 ArXiv
FeatDepth Feature-metric Loss for Self-supervised Learning of Depth and Egomotion Shu et. al ECCV 2020 ArXiv GitHub
CADepth Channel-Wise Attention-Based Network for Self-Supervised Monocular Depth Estimation Yan et. al 3DV 2021 ArXiv GitHub
DiffNet Self-Supervised Monocular Depth Estimation with Internal Feature Fusion Zhou et. al BMVC 2021 ArXiv GitHub
HR-Depth HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation Lyu et. al AAAI 2021 ArXiv GitHub
MiDaS Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer Ranftl el. al PAMI 2020 ArXiv GitHub
DPT Vision Transformers for Dense Prediction Ranftl el. al ICCV 2021 ArXiv GitHub
NeWCRFs NeW CRFs: Neural Window Fully-connected CRFs for Monocular Depth Estimation Weihao el. al CVPR 2022 ArXiv GitHub

Licence

This project is licenced under the Commons Clause and GNU GPL licenses. For commercial use, please contact the authors.