UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots

Pointers

• Preprint: https://arxiv.org/pdf/2209.12358.pdf
• Video demonstration: https://youtu.be/lNK90c5ofVQ

Model and test scripts

• The UDepth model architecture is in model/udepth.py
• The saved models are in saved_model
• UDepth inference on USOD10K dataset: use test_usod10k.py
• UDepth inference on other images: use inference.py
• Domain projection inference on USOD10K dataset: use test_usod10k_proj.py
• Domain projection inference on other images: use inference_proj.py

Bibliography entry:

@inproceedings{yu2022udepth,    
author={Yu, Boxiao and Wu, Jiayi and Islam, Md Jahidul},    
title={UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots},    
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},    
year={2023},    
organization={IEEE}
}

Acknowledgements

• https://github.com/shariqfarooq123/AdaBins
• https://github.com/wuzhe71/CPD