datasetheatmapdepthestimationkitti

How to obtain a dense ground truth image for depth prediction in kitti dataset?


For example let's say that this is the input image:

Input image

This is the original ground truth downloaded:

GT

But in all the papers they show something like this:

heat map

How can I obtain the last one?


Solution

  • In order to obtain a dense depth map, you need to run a depth inpainting/depth completion method on the Lidar data, which is the ground truth data you downloaded.

    I suggest you to take a look at the following:

    https://github.com/balcilar/DenseDepthMap

    https://gist.github.com/ialhashim/be6235489a9c43c6d240e8331836586a

    Also the works under the KITTI Depth Completion Benchmark could be helpful:

    http://www.cvlibs.net/datasets/kitti/eval_depth.php?benchmark=depth_completion