trained_models

Trained models for PanopticNDT

Mapping experiments

See here for details.

To reproduce the results reported in our paper, follow the instructions given here.

Application network and fine-tuned application network

See here and here for details.

To reprocduce the results reported in our paper, run:

# requires prepared datasets: NYUv2, SUNRGBD, Hypersim, and ScanNet
./evaluate_application_networks.bash

We refer to the documentation of our nicr-scene-analysis-datasets python package for preparing the datasets.

Use --instances-version panopticndt when preparing the SUNRGB-D dataset with nicr-scene-analysis-datasets to reproduce reported results.