1. Depth Pro: Sharp Monocular Metric Depth in Less Than a Second
- Author
-
Bochkovskii, Aleksei, Delaunoy, Amaël, Germain, Hugo, Santos, Marcel, Zhou, Yichao, Richter, Stephan R., and Koltun, Vladlen
- Subjects
Computer Science - Computer Vision and Pattern Recognition ,Computer Science - Machine Learning - Abstract
We present a foundation model for zero-shot metric monocular depth estimation. Our model, Depth Pro, synthesizes high-resolution depth maps with unparalleled sharpness and high-frequency details. The predictions are metric, with absolute scale, without relying on the availability of metadata such as camera intrinsics. And the model is fast, producing a 2.25-megapixel depth map in 0.3 seconds on a standard GPU. These characteristics are enabled by a number of technical contributions, including an efficient multi-scale vision transformer for dense prediction, a training protocol that combines real and synthetic datasets to achieve high metric accuracy alongside fine boundary tracing, dedicated evaluation metrics for boundary accuracy in estimated depth maps, and state-of-the-art focal length estimation from a single image. Extensive experiments analyze specific design choices and demonstrate that Depth Pro outperforms prior work along multiple dimensions. We release code and weights at https://github.com/apple/ml-depth-pro, Comment: Code and weights available at https://github.com/apple/ml-depth-pro
- Published
- 2024