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High Quality Monocular Depth Estimation via Transfer Learning
| Date | Stars |
|---|---|
| 2026-07-24 | 1609 |
| 2026-07-25 | 1609 |
| 2026-07-28 | 1609 |
| 2026-07-30 | 1609 |
| 2026-08-06 | 1609 |
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## [High Quality Monocular Depth Estimation via Transfer Learning (arXiv 2018)](https://arxiv.org/abs/1812.11941)
[Ibraheem Alhashim](https://ialhashim.github.io/) and Peter Wonka
**[Update] Our latest method with better performance can be found here [AdaBins](https://github.com/shariqfarooq123/AdaBins).**
Offical Keras (TensorFlow) implementaiton. If you have any questions or need more help with the code, contact the **first author**.
**[Update]** Added a [Colab notebook](https://github.com/ialhashim/DenseDepth/blob/master/DenseDepth.ipynb) to try the method on the fly.
**[Update]** Experimental TensorFlow 2.0 implementation added.
**[Update]** Experimental PyTorch code added.
## Results
* KITTI
<p align="center"><img style="max-width:500px" src="https://s3-eu-west-1.amazonaws.com/densedepth/densedepth_results_01.jpg" alt="KITTI"></p>
* NYU Depth V2
<p align="center">
<img style="max-width:500px" src="https://s3-eu-west-1.amazonaws.com/densedepth/densedepth_results_02.jpg" alt="NYU Depth v2">
<img style="max-width:500px" src="https://s3-eu-west-1.amazonaws.com/densedepth/densedepth_results_03.jpg" alt="NYU Depth v2 table">
</p>
## Requirements
* This code is tested with Keras 2.2.4, Tensorflow 1.13, CUDA 10.0, on a machine with an NVIDIA Titan V and 16GB+ RAM running on Windows 10 or Ubuntu 16.
* Other packages needed `keras pillow matplotlib scikit-learn scikit-image opencv-python pydot` and `GraphViz` for the model graph visualization and `PyGLM PySide2 pyopengl` for the GUI demo.
* Minimum hardware tested on for inference NVIDIA GeForce 940MX (laptop) / NVIDIA GeForce GTX 950 (desktop).
* Training takes about 24 hours on a single NVIDIA TITAN RTX with batch size 8.
## Pre-trained Models
* [NYU Depth V2](https://drive.google.com/file/d/19dfvGvDfCRYaqxVKypp1fRHwK7XtSjVu/view?usp=sharing) (165 MB)
* [KITTI](https://drive.google.com/file/d/19flUnbJ_6q2xtjuUQvjt1Y1cJRwOr-XY/view?usp=sharing) (165 MB)
## Demos
* After downloading the pre-trained model (nyu.h5), run `python test.py`. You should see a montage of images with their estimated depth maps.
* **[Update]** A Qt demo showing 3D point clouds from the webcam or an image. Simply run `python demo.py`. It requires the packages `PyGLM PySide2 pyopengl`.
<p align="center">
<img style="max-width:500px" src="https://s3-eu-west-1.amazonaws.com/densedepth/densedepth_results_04.jpg" alt="RGBD Demo">
</p>
## Data
* [NYU Depth V2 (50K)](https://tinyurl.com/nyu-data-zip) (4.1 GB): You don't need to extract the dataset since the code loads the entire zip file into memory when training.
* [KITTI](http://www.cvlibs.net/datasets/kitti/): copy the raw data to a folder with the path '../kitti'. Our method expects dense input depth maps, therefore, you need to run a depth [inpainting method](https://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html) on the Lidar data. For our experiments, we used our [Python re-implmentaiton](https://gist.github.com/ialhashim/be6235489a9c43c6d240e8331836586a) of the Matlab code provided with NYU Depth V2 toolbox. The entire 80K images took 2 hours on an 80 nodes cluster for inpainting. For our training, we used the subset defined [here](https://s3-eu-west-1.amazonaws.com/densedepth/kitti_train.csv).
* [Unreal-1k](https://github.com/ialhashim/DenseDepth): coming soon.
## Training
* Run `python train.py --data nyu --gpus 4 --bs 8`.
## Evaluation
* Download, but don't extract, the ground truth test data from [here](https://s3-eu-west-1.amazonaws.com/densedepth/nyu_test.zip) (1.4 GB). Then simply run `python evaluate.py`.
## Reference
Corresponding paper to cite:
```
@article{Alhashim2018,
author = {Ibraheem Alhashim and Peter Wonka},
title = {High Quality Monocular Depth Estimation via Transfer Learning},
journal = {arXiv e-prints},
volume = {abs/1812.11941},
year = {2018},
url = {https://arxiv.org/abs/1812.11941},
eid = {arXiv:1812.11941},
eprint = {1812.11941}
}
```
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