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Depth completion has attracted extensive attention recently due to the development of autonomous driving, which aims to recover dense depth map from sparse depth measurements. Convolutional spatial propagation network (CSPN) is one of the…
Image-guided depth completion aims to generate dense depth maps with sparse depth measurements and corresponding RGB images. Currently, spatial propagation networks (SPNs) are the most popular affinity-based methods in depth completion, but…
We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…
Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…
Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…
Feature-based visual simultaneous localization and mapping (SLAM) methods only estimate the depth of extracted features, generating a sparse depth map. To solve this sparsity problem, depth completion tasks that estimate a dense depth from…
Sparse depth measurements are widely available in many applications such as augmented reality, visual inertial odometry and robots equipped with low cost depth sensors. Although such sparse depth samples work well for certain applications…
Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…
Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…
Depth completion aims to recover dense depth maps from sparse depth measurements. It is of increasing importance for autonomous driving and draws increasing attention from the vision community. Most of existing methods directly train a…
Depth estimation from a single image is a fundamental problem in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for depth prediction.…
Depth completion is an important vision task, and many efforts have been made to enhance the quality of depth maps from sparse depth measurements. Despite significant advances, training these models to recover dense depth from sparse…
Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented…
Depth prediction is one of the fundamental problems in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for various depth estimation tasks.…
Depth completion, inferring dense depth maps from sparse measurements, is crucial for robust 3D perception. Although deep learning based methods have made tremendous progress in this problem, these models cannot generalize well across…
Depth completion is a pivotal challenge in computer vision, aiming at reconstructing the dense depth map from a sparse one, typically with a paired RGB image. Existing learning based models rely on carefully prepared but limited data,…
It is widely believed that sparse supervision is worse than dense supervision in the field of depth completion, but the underlying reasons for this are rarely discussed. To this end, we revisit the task of radar-camera depth completion and…
Existing depth completion methods are often targeted at a specific sparse depth type and generalize poorly across task domains. We present a method to complete sparse/semi-dense, noisy, and potentially low-resolution depth maps obtained by…
Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation,…
Estimating scene geometry from data obtained with cost-effective sensors is key for robots and self-driving cars. In this paper, we study the problem of predicting dense depth from a single RGB image (monodepth) with optional sparse…