• Stars
    star
    855
  • Rank 51,865 (Top 2 %)
  • Language
    Python
  • License
    MIT License
  • Created over 1 year ago
  • Updated 9 months ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

[TPAMI'23] Unifying Flow, Stereo and Depth Estimation

Unifying Flow, Stereo and Depth Estimation

Haofei XuJing ZhangJianfei CaiHamid RezatofighiFisher YuDacheng TaoAndreas Geiger

Paper | Slides | Project Page | Colab | Demo

Logo

A unified model for three motion and 3D perception tasks.

Logo

We achieve the 1st places on Sintel (clean), Middlebury (rms metric) and Argoverse benchmarks.

This project is developed based on our previous works:

Installation

Our code is developed based on pytorch 1.9.0, CUDA 10.2 and python 3.8. Higher version pytorch should also work well.

We recommend using conda for installation:

conda env create -f conda_environment.yml
conda activate unimatch

Alternatively, we also support installing with pip:

bash pip_install.sh

Model Zoo

A large number of pretrained models with different speed-accuracy trade-offs for flow, stereo and depth are available at MODEL_ZOO.md.

We assume the downloaded weights are located under the pretrained directory.

Otherwise, you may need to change the corresponding paths in the scripts.

Demo

Given an image pair or a video sequence, our code supports generating prediction results of optical flow, disparity and depth.

Please refer to scripts/gmflow_demo.sh, scripts/gmstereo_demo.sh and scripts/gmdepth_demo.sh for example usages.

kitti_demo.mp4

Datasets

The datasets used to train and evaluate our models for all three tasks are given in DATASETS.md

Evaluation

The evaluation scripts used to reproduce the numbers in our paper are given in scripts/gmflow_evaluate.sh, scripts/gmstereo_evaluate.sh and scripts/gmdepth_evaluate.sh.

For submission to KITTI, Sintel, Middlebury and ETH3D online test sets, you can run scripts/gmflow_submission.sh and scripts/gmstereo_submission.sh to generate the prediction results. The results can be submitted directly.

Training

All training scripts for different model variants on different datasets can be found in scripts/*_train.sh.

We support using tensorboard to monitor and visualize the training process. You can first start a tensorboard session with

tensorboard --logdir checkpoints

and then access http://localhost:6006 in your browser.

Citation

@article{xu2022unifying,
  title={Unifying Flow, Stereo and Depth Estimation},
  author={Xu, Haofei and Zhang, Jing and Cai, Jianfei and Rezatofighi, Hamid and Yu, Fisher and Tao, Dacheng and Geiger, Andreas},
  journal={arXiv preprint arXiv:2211.05783},
  year={2022}
}

This work is a substantial extension of our previous conference paper GMFlow (CVPR 2022, Oral), please consider citing GMFlow as well if you found this work useful in your research.

@inproceedings{xu2022gmflow,
  title={GMFlow: Learning Optical Flow via Global Matching},
  author={Xu, Haofei and Zhang, Jing and Cai, Jianfei and Rezatofighi, Hamid and Tao, Dacheng},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={8121-8130},
  year={2022}
}

Acknowledgements

This project would not have been possible without relying on some awesome repos: RAFT, LoFTR, DETR, Swin, mmdetection and Detectron2. We thank the original authors for their excellent work.

More Repositories

1

sdfstudio

A Unified Framework for Surface Reconstruction
Python
1,861
star
2

occupancy_networks

This repository contains the code for the paper "Occupancy Networks - Learning 3D Reconstruction in Function Space"
Python
1,454
star
3

giraffe

This repository contains the code for the CVPR 2021 paper "GIRAFFE: Representing Scenes as Compositional Generative Neural Feature Fields"
Python
1,227
star
4

stylegan-t

[ICML'23] StyleGAN-T: Unlocking the Power of GANs for Fast Large-Scale Text-to-Image Synthesis
Python
1,122
star
5

transfuser

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
Python
957
star
6

stylegan-xl

[SIGGRAPH'22] StyleGAN-XL: Scaling StyleGAN to Large Diverse Datasets
Python
939
star
7

projected-gan

[NeurIPS'21] Projected GANs Converge Faster
Python
876
star
8

convolutional_occupancy_networks

[ECCV'20] Convolutional Occupancy Networks
Python
792
star
9

differentiable_volumetric_rendering

This repository contains the code for the CVPR 2020 paper "Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervision"
Python
782
star
10

mip-splatting

[CVPR'24 Oral] Mip-Splatting: Alias-free 3D Gaussian Splatting
Python
700
star
11

monosdf

[NeurIPS'22] MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstruction
Python
535
star
12

shape_as_points

[NeurIPS'21] Shape As Points: A Differentiable Poisson Solver
Python
518
star
13

unisurf

[ICCV'21] UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstruction
Python
410
star
14

graf

Official code release for "GRAF: Generative Radiance Fields for 3D-Aware Image Synthesis"
Jupyter Notebook
393
star
15

tuplan_garage

[CoRL'23] Parting with Misconceptions about Learning-based Vehicle Motion Planning
Python
370
star
16

kitti360Scripts

This repository contains utility scripts for the KITTI-360 dataset.
Python
353
star
17

neat

[ICCV'21] NEAT: Neural Attention Fields for End-to-End Autonomous Driving
Python
301
star
18

gaussian-opacity-fields

Gaussian Opacity Fields for Efficient and Compact Surface Reconstruction in Unbounded Scenes
Python
285
star
19

occupancy_flow

This repository contains the code for the ICCV 2019 paper "Occupancy Flow - 4D Reconstruction by Learning Particle Dynamics"
Python
207
star
20

plant

[CoRL'22] PlanT: Explainable Planning Transformers via Object-Level Representations
Python
192
star
21

factor-fields

[SIGGRAPH 2023] We provide a unified formula for neural fields (Factor Fields) and a novel dictionary factorization (Dictionary Fields)
Jupyter Notebook
183
star
22

voxgraf

Official code release for VoxGRAF: Fast 3D-Aware Image Synthesis with Sparse Voxel Grids
Python
123
star
23

carla_garage

[ICCV'23] Hidden Biases of End-to-End Driving Models
Python
121
star
24

texture_fields

This repository contains code for the paper 'Texture Fields: Learning Texture Representations in Function Space'.
Python
113
star
25

sledge

SLEDGE: Synthesizing Simulation Environments for Driving Agents with Generative Models
105
star
26

kitti360LabelTool

JavaScript
103
star
27

counterfactual_generative_networks

[ICLR'21] Counterfactual Generative Networks
Python
102
star
28

gta

[ICLR'24] GTA: A Geometry-Aware Attention Mechanism for Multi-view Transformers
Python
95
star
29

murf

[CVPR'24] MuRF: Multi-Baseline Radiance Fields
Python
84
star
30

controllable_image_synthesis

Towards Unsupervised Learning of Generative Models for 3D Controllable Image Synthesis, CVPR 2020
Python
69
star
31

king

[ECCV'22] KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients
Python
61
star
32

handheld_svbrdf_geometry

On Joint Estimation of Pose, Geometry and svBRDF from a Handheld Scanner, CVPR2020
Python
57
star
33

navsim

NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation
Python
52
star
34

connecting_the_dots

This repository contains the code for the paper "Connecting the Dots: Learning Representations for Active Monocular Depth Estimation" https://avg.is.tuebingen.mpg.de/publications/riegler2019cvpr
Python
51
star
35

frequency_bias

Official code for "On the Frequency Bias of Generative Models", NeurIPS 2021
Python
39
star
36

data_aggregation

This repository contains the code for the CVPR 2020 paper "Exploring Data Aggregation in Policy Learning for Vision-based Urban Autonomous Driving"
Python
38
star
37

good

[ICLR'23] GOOD: Exploring Geometric Cues for Detecting Objects in an Open World
Python
36
star
38

campari

[3DV'21] CAMPARI: Camera-Aware Decomposed Generative Neural Radiance Fields
Python
29
star
39

autonomousvision.github.io

Blog of the Autonomous Vision Group at MPI-IS T眉bingen and University of T眉bingen.
HTML
19
star
40

visual_abstractions

6
star
41

slides

Slide repository of the Autonomous Vision Group at MPI-IS T眉bingen and University of T眉bingen.
CSS
2
star
42

similarity_reconstruction

This code is based on the paper Exploiting Object Similarity in 3D Reconstruction.
C++
1
star
43

slow_flow

This code is based on the paper Slow Flow: Exploiting High-Speed Cameras for Accurate and Diverse Optical Flow Reference Data.
C++
1
star