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Official page of "Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM", which is accepted in IEEE RA-L'22 (IROS'22 are still being under-reviewed.)
- Depth completion from Visual(-inertial) SLAM using point & line features.
- Code (including source code, utility code for visualization) & Dataset will be finalized & released soon! (goal: IROS'22 presentation date)
- version info
- (04/20) docker image has been uploaded.
- (04/21) Dataset has been uploaded.
- (04/21) Visusal-SLAM module (modified UV-SLAM) has been uploaded.
- 3D Depth estimation results
- 2D Depth estimation results
Ground truth | Baseline | Struct-MDC (Ours) |
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- Common
- Ubuntu 18.04
- ROS melodic
- Visual-SLAM module
- OpenCV 3.2.0 (under 3.4.1)
- Ceres Solver-1.14.0
- Eigen-3.3.9
- CDT library
git clone https://github.com/artem-ogre/CDT.git cd CDT mkdir build && cd build cmake -DCDT_USE_AS_COMPILED_LIBRARY=ON -DCDT_USE_BOOST=ON .. cmake --build . && cmake --install . sudo make install
- Depth completion module
- Python 3.7.7
- PyTorch 1.5.0 (you can easily reproduce equivalent environment using our docker image)
-
Visual-SLAM module
- As visual-SLAM, we modified the UV-SLAM, which is implemented in ROS environment.
- make sure that your catkin workspace has following cmake args:
-DCMAKE_BUILD_TYPE=Release
cd ~/$(PATH_TO_YOUR_ROS_WORKSPACE)/src git clone --recursive https://github.com/url-kaist/Struct-MDC cd .. catkin build source ~/$(PATH_TO_YOUR_ROS_WORKSPACE)/devel/setup.bash
-
Depth completion module
- Our depth compeltion module is based on the popular Deep-Learning framework, PyTorch.
- For your convenience, we share our environment as Docker image. We assume that you have already installed the Docker. For Docker installation, please refer here
# pull our docker image into your local machine docker pull zinuok/nvidia-torch:latest # run the image mounting our source docker run -it --gpus "device=0" -v $(PATH_TO_YOUR_LOCAL_FOLER):/workspace zinuok/nvidia-torch:latest bash
- any issues found will be updated in this section.
- if you've found any other issues, please post it on
Issues tab
. We'll do our best to resolve your issues.