CNN_Based_Depth_Estimation

Use flowdep_V1 and 2Dgray_image to predict depth with IMU and Camera.

Dependencies

Run&Train

• numba
• torch
• torchvision
• numpy
• scipy

Visualize

• opencv
• cmapy
• matplotlib

Usage

To Train the model

you need to download DataSet from Kitti DepthEstimation(for Depth map) and rawDataset(for IMU_DATA and RawImage to calculate opticalflow)

python Train_module.py

To test the model, you need to download the dataset from here(Pre-Train model and Crop DataSet): https://drive.google.com/drive/folders/16kIMDawuQ6MVet9yxr4shkWg71a4Skpm?usp=sharing

python Visualize_result.py

Configuration

You need to change the PATH of DATAset and model in Train_module.py and Visualize_result