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iDisc Model Zoo and Baselines

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