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arXiv · 2011.04408

SeasonDepth: Cross-Season Monocular Depth Prediction Dataset and Benchmark under Multiple Environments

Hanjiang Hu·Baoquan Yang·Zhijian Qiao·Shiqi Liu·Jiacheng Zhu·Zuxin Liu·Wenhao Ding·Ding Zhao·Hesheng Wang
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Abstract

Different environments pose a great challenge to the outdoor robust visual perception for long-term autonomous driving, and the generalization of learning-based algorithms on different environments is still an open problem. Although monocular depth prediction has been well studied recently, few works focus on the robustness of learning-based depth prediction across different environments, e.g. changing illumination and seasons, owing to the lack of such a multi-environment real-world dataset and benchmark. To this end, the first cross-season monocular depth prediction dataset and benchmark, SeasonDepth, is introduced to benchmark the depth estimation performance under different environments. We investigate several state-of-the-art representative open-source supervised and self-supervised depth prediction methods using newly-formulated metrics. Through extensive experimental evaluation on the proposed dataset and cross-dataset evaluation with current autonomous driving datasets, the performance and robustness against the influence of multiple environments are analyzed qualitatively and quantitatively. We show that long-term monocular depth prediction is still challenging and believe our work can boost further research on the long-term robustness and generalization for outdoor visual perception. The dataset is available on https://seasondepth.github.io, and the benchmark toolkit is available on https://github.com/ SeasonDepth/SeasonDepth.

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Hanjiang Hu, Baoquan Yang, Zhijian Qiao, Shiqi Liu, Jiacheng Zhu, Zuxin Liu, Wenhao Ding, Ding Zhao, Hesheng Wang. 2020-11-09. SeasonDepth: Cross-Season Monocular Depth Prediction Dataset and Benchmark under Multiple Environments. https://arxiv.org/abs/2011.04408

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