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Semantic Instance Geometry Network for Unsupervised Percepetion

Project page: https://mengyuest.github.io/SIGNet/

This is the implementation of our paper:

Y. Meng, Y. Lu, A. Raj, S. Sunarjo, R. Guo, T. Javidi, G. Bansal, D. Bharadia. "SIGNet: Semantic Instance Aided Unsupervised 3D Geometry Perception", (CVPR), 2019. [arXiv pdf]

The code is build upon GeoNet

Prerequisite

  1. Ubuntu 16.04, python3, tensorflow-gpu 1.10.1 (test on GTX 1080Ti and RTX 2080Ti with CUDA 9.0)
  2. Better to use virtual environment. For the rest of dependencies, please run pip3 install -r requirements.txt)
  3. Download ground truth depth and our models from https://drive.google.com/open?id=19BFkrfODd3N5IKQJJgqp-pXjbHeYrFf1 (put the models folder directly under the project directory)
  4. Download KITTI evaluation dataset from https://drive.google.com/open?id=1kYNKqIhArAD03WNr4_FZCYRRWo0WT31P (move it two levels upon the project directory, i.e. mv -f data ../../data)

Inference for Depth

  1. Run bash run_all_tests.sh then wait for 2~4 minutes. Results are related to Table 1 ~ Table 4 in our paper.

Training on KITTI

  1. Follow the Data preparation instructions from GeoNet.
  2. Prepare for semantic lables (semantic-level: DeeplabV3+, instance-level: Mask-RCNN)
  3. Quick training: run bash run_depth_train.sh config/foobar.cfg where foobar.cfg is the configuration filename you need to specify.
  4. Logs will be saved in ${CHECKPOINT_DIR}/logs/ defined in foobar.cfg file