ODMS is the first dataset for learning Object Depth via Motion and Segmentation. ODMS training data are configurable and extensible, with each training example consisting of a series of object segmentation masks, camera movement distances, and ground truth object depth. As a benchmark evaluation, we also provide four ODMS validation and test sets with 15,650 examples in multiple domains, including robotics and driving. In our paper, we use an ODMS-trained network to perform object depth estimation in real-time robot grasping experiments, demonstrating how ODMS is a viable tool for 3D perception from a single RGB camera.
(New) An object detection-based version of the ODMS benchmark is now available here!
Contact: Brent Griffin (griffb at umich dot edu)
Quick Introduction: https://youtu.be/c90Fg_whjpI
Run ./demo/demo_datagen.py to generate random ODMS data to train your model.
Example training data configurations are provided in the ./config/ folder. Has the option to save a static dataset.
[native Python, has scipy dependency]
Run ./demo/demo_dataset_eval.py to evaluate your model on the ODMS validation and test sets.
Provides an example evaluation for the VOS-DE baseline. Results are saved in the ./results/ folder.
[native Python, VOS-DE baseline has skimage dependency]
| Method | Robot | Driving | Normal | Perturb | All |
|---|---|---|---|---|---|
| DBox | 11.5 | 24.8 | 11.8 | 20.3 | 17.1 |
| ODNlr | 13.1 | 31.7 | 8.6 | 17.9 | 17.8 |
| BoxLS | 17.6 | 33.3 | 13.7 | 36.6 | 25.3 |
| VOS-DE | 32.6 | 36.0 | 7.9 | 33.6 | 27.5 |
Is your technique missing although it's published and the code is public? Let us know and we'll add it.
Run ./demo/demo_odn_train.py to train your own ODN model using ODMS.
Run ./demo/demo_odn_eval.py after training to evaluate your ODN model.
Example training and ODN model configurations are provided in the ./config/ folder.
Models are saved in the ./results/model/ folder.
[native Python, has Torch dependency]
Please cite our paper if you find it useful for your research.
@inproceedings{GrCoECCV20,
author = {Griffin, Brent A. and Corso, Jason J.},
booktitle={The European Conference on Computer Vision (ECCV)},
title = {Learning Object Depth from Camera Motion and Video Object Segmentation},
year = {2020}
}
ECCV 2020 Presentation: https://youtu.be/ZD4Y4oQbdks
This code is available for non-commercial research purposes only.