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Is my Depth Ground-Truth Good Enough? HAMMER -- Highly Accurate Multi-Modal Dataset for DEnse 3D Scene Regression

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arxiv 2205.04565 v1 pith:2LFBCNVS submitted 2022-05-09 cs.CV

Is my Depth Ground-Truth Good Enough? HAMMER -- Highly Accurate Multi-Modal Dataset for DEnse 3D Scene Regression

HyunJun Jung , Patrick Ruhkamp , Guangyao Zhai , Nikolas Brasch , Yitong Li , Yannick Verdie , Jifei Song , Yiren Zhou
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Anil Armagan Slobodan Ilic Ales Leonardis Benjamin Busam
This is my paper
classification cs.CV
keywords depthsensorestimateshammerscenechallengesdatadataset
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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Depth estimation is a core task in 3D computer vision. Recent methods investigate the task of monocular depth trained with various depth sensor modalities. Every sensor has its advantages and drawbacks caused by the nature of estimates. In the literature, mostly mean average error of the depth is investigated and sensor capabilities are typically not discussed. Especially indoor environments, however, pose challenges for some devices. Textureless regions pose challenges for structure from motion, reflective materials are problematic for active sensing, and distances for translucent material are intricate to measure with existing sensors. This paper proposes HAMMER, a dataset comprising depth estimates from multiple commonly used sensors for indoor depth estimation, namely ToF, stereo, structured light together with monocular RGB+P data. We construct highly reliable ground truth depth maps with the help of 3D scanners and aligned renderings. A popular depth estimators is trained on this data and typical depth senosors. The estimates are extensively analyze on different scene structures. We notice generalization issues arising from various sensor technologies in household environments with challenging but everyday scene content. HAMMER, which we make publicly available, provides a reliable base to pave the way to targeted depth improvements and sensor fusion approaches.

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Cited by 5 Pith papers

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