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Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data

Lihe Yang1 · Bingyi Kang2+ · Zilong Huang2 · Xiaogang Xu3,4 · Jiashi Feng2 · Hengshuang Zhao1+

1The University of Hong Kong · 2TikTok · 3Zhejiang Lab · 4Zhejiang University

+corresponding authors

Paper PDF Project Page

This work presents Depth Anything, a highly practical solution for robust monocular depth estimation by training on a combination of 1.5M labeled images and 62M+ unlabeled images.

teaser

News

  • 2024-01-22: Paper, project page, code, models, and demo are released.

Features of Depth Anything

  • Relative depth estimation:

    Our foundation models listed here can provide relative depth estimation for any given image robustly. Please refer here for details.

  • Metric depth estimation

    We fine-tune our Depth Anything model with metric depth information from NYUv2 or KITTI. It offers strong capabilities of both in-domain and zero-shot metric depth estimation. Please refer here for details.

  • Better depth-conditioned ControlNet

    We re-train a better depth-conditioned ControlNet based on Depth Anything. It offers more precise synthesis than the previous MiDaS-based ControlNet. Please refer here for details.

  • Downstream high-level scene understanding

    The Depth Anything encoder can be fine-tuned to downstream high-level perception tasks, e.g., semantic segmentation, 86.2 mIoU on Cityscapes and 59.4 mIoU on ADE20K. Please refer here for details.

Performance

Here we compare our Depth Anything with the previously best MiDaS v3.1 BEiTL-512 model.

Please note that the latest MiDaS is also trained on KITTI and NYUv2, while we do not.

Method Params KITTI NYUv2 Sintel DDAD ETH3D DIODE
AbsRel $\delta_1$ AbsRel $\delta_1$ AbsRel $\delta_1$ AbsRel $\delta_1$ AbsRel $\delta_1$ AbsRel $\delta_1$
MiDaS 345.0M 0.127 0.850 0.048 0.980 0.587 0.699 0.251 0.766 0.139 0.867 0.075 0.942
Ours-S 24.8M 0.080 0.936 0.053 0.972 0.464 0.739 0.247 0.768 0.127 0.885 0.076 0.939
Ours-B 97.5M 0.080 0.939 0.046 0.979 0.432 0.756 0.232 0.786 0.126 0.884 0.069 0.946
Ours-L 335.3M 0.076 0.947 0.043 0.981 0.458 0.760 0.230 0.789 0.127 0.882 0.066 0.952

We highlight the best and second best results in bold and italic respectively (better results: AbsRel $\downarrow$ , $\delta_1 \uparrow$).

Pre-trained models

We provide three models of varying scales for robust relatve depth estimation:

  • Depth-Anything-ViT-Small (24.8M)

  • Depth-Anything-ViT-Base (97.5M)

  • Depth-Anything-ViT-Large (335.3M)

Download our pre-trained models here, and put them under the checkpoints directory.

Usage

Installation

The setup is very simple. Just make ensure torch, torchvision, and cv2 are supported in your environment.

git clone https://github.com/LiheYoung/Depth-Anything
cd Depth-Anything
pip install -r requirements.txt

Running

python run.py --encoder <vits | vitb | vitl> --load-from <pretrained-model> --img-path <img-directory | single-img | txt-file> --outdir <outdir> --localhub

For the img-path, you can either 1) point it to an image directory storing all interested images, 2) point it to a single image, or 3) point it to a text file storing all image paths.

For example:

python run.py --encoder vitl --load-from checkpoints/depth_anything_vitl14.pth --img-path demo_images --outdir depth_visualization --localhub

Gradio demo

To use our gradio demo locally:

python app.py

You can also try our online demo.

Import Depth Anything to your project

If you want to use Depth Anything in your own project, you can simply follow run.py to load our models and define data pre-processing.

Code snippet (note the difference between our data pre-processing and that of MiDaS) 
from depth_anything.dpt import DPT_DINOv2
from depth_anything.util.transform import Resize, NormalizeImage, PrepareForNet

import cv2
import torch

depth_anything = DPT_DINOv2(encoder='vitl', features=256, out_channels=[256, 512, 1024, 1024], localhub=True)
depth_anything.load_state_dict(torch.load('checkpoints/depth_anything_vitl14.pth'))

transform = Compose([
    Resize(
        width=518,
        height=518,
        resize_target=False,
        keep_aspect_ratio=True,
        ensure_multiple_of=14,
        resize_method='lower_bound',
        image_interpolation_method=cv2.INTER_CUBIC,
    ),
    NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
    PrepareForNet(),
])

image = cv2.cvtColor(cv2.imread('your image path'), cv2.COLOR_BGR2RGB) / 255.0
image = transform({'image': image})['image']
image = torch.from_numpy(image).unsqueeze(0)

# depth shape: 1xHxW
depth = depth_anything(image)

Citation

If you find this project useful, please consider citing:

@article{depthanything,
      title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, 
      author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang},
      journal={arXiv:2401.10891},
      year={2024}
}