unsupervised-depth-completion-visual-inertial-odometry VS instant-ngp

Hey there, interested in camera and range sensor fusion for point cloud (depth) completion?

Here is an extended version of our [talk](https://www.youtube.com/watch?v=oBCKO4TH5y0) at ICRA 2020 where we do a step by step walkthrough of our paper Unsupervised Depth Completion from Visual Inertial Odometry (joint work with Fei Xiaohan, Stephanie Tsuei, and Stefano Soatto).

In this talk, we present an unsupervised method (no need for human supervision/annotations) for learning to recover dense point clouds from images, captured by cameras, and sparse point clouds, produced by lidar or tracked by visual inertial odometry (VIO) systems. To illustrate what I mean, here is an [example](https://github.com/alexklwong/unsupervised-depth-completion-visual-inertial-odometry/blob/master/figures/void_teaser.gif?raw=true) of the point clouds produced by our method.

Our method is light-weight (so you can run it on your computer!) and is built on top of [XIVO] (https://github.com/ucla-vision/xivo) our VIO system.

For those interested here are links to the [paper](https://arxiv.org/pdf/1905.08616.pdf), [code](https://github.com/alexklwong/unsupervised-depth-completion-visual-inertial-odometry) and the [dataset](https://github.com/alexklwong/void-dataset) we collected.

In this talk, we present an unsupervised method (no need for human supervision/annotations) for learning to recover dense point clouds from images, captured by cameras, and sparse point clouds, produced by lidar or tracked by visual inertial odometry (VIO) systems. To illustrate what I mean, you can visit our github page for examples (gifs) of point clouds produced by our method.

This is really cool! Could you now use something like this to turn the new images in a 3d model? Or even use open pose (controlnet) to generate a bunch of images from different angles and use InstantNeRF to make a 3d model for free!

It is at this point that you should have Instant-NGP setup. The script for the COLMAP processing is in the repo, as well as the steps to perform it. My exact parameters were 3 fps and 16 aabb. It is pretty helpful to add the scripts directory into path for exact access system-wide.

[Project Page] https://nvlabs.github.io/instant-ngp/

instant-ngp ([1]) from NVIDIA can render NeRF in VR in real-time, assuming a very good desktop video card. Note that instant-ngp is not as photo-realistic as Zip-NeRF. But it's still very good!

1. https://github.com/NVlabs/instant-ngp

Playing around with neRF AI (https://github.com/NVlabs/instant-ngp) to create some 3d gear reveals. I think this a fun way to show off a kit, what do you think?

3 not sure if it's the one you want but the -aabb_scale is a crop. This page recommends trying a large value of 128 for some outdoor scenes: https://github.com/NVlabs/instant-ngp/blob/master/docs/nerf_dataset_tips.md

I don't know about lumalabs, but basically all NeRF projects these days are based on NVIDIAs Instant neural graphics primitives ( GitHub: instant-ngp). It utilizes COLMAP for SfM (preprocessing step for the neural network) and runs on average Geforce cards pretty good. The fox example (50 photos) on their page literally takes 5 seconds to complete.