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TRAILab / CaDDN

Categorical Depth Distribution Network for Monocular 3D Object Detection (CVPR 2021 Oral)
Apache License 2.0
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How to generate a depth map for the Kitti dataset? #44

Closed rockywind closed 3 years ago

rockywind commented 3 years ago

Thanks for your help on the previous issue. Was the depth map of the Kitti dataset synthesized from 5 frames of LiDAR Scan? Because Lidar Scan and depth map data looked different.

codyreading commented 3 years ago

We used a single LiDAR frame to generate the depth map. We used a depth completion method which filled in the gaps of the sparse LiDAR scan, which might explain why the LiDAR scan looks different to the depth map.