相关论文: CU-Net: LiDAR Depth-Only Completion With Coupled U…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

While conventional depth estimation can infer the geometry of a scene from a single RGB image, it fails to estimate scene regions that are occluded by foreground objects. This limits the use of depth prediction in augmented and virtual…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Depth completion from sparse LiDAR measurements and corresponding RGB images is a prerequisite for accurate 3D perception in robotic systems. Existing methods achieve high accuracy on standard benchmarks but rely on heavy backbone…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

We present a deep learning system to infer the posterior distribution of a dense depth map associated with an image, by exploiting sparse range measurements, for instance from a lidar. While the lidar may provide a depth value for a small…

We propose a method that combines sparse depth (LiDAR) measurements with an intensity image and to produce a dense high-resolution depth image. As there are few, but accurate, depth measurements from the scene, our method infers the…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

Depth completion is a popular research direction in the field of depth estimation. The fusion of color and depth features is the current critical challenge in this task, mainly due to the asymmetry between the rich scene details in color…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

Image guided depth completion is the task of generating a dense depth map from a sparse depth map and a high quality image. In this task, how to fuse the color and depth modalities plays an important role in achieving good performance. This…

The focus in deep learning research has been mostly to push the limits of prediction accuracy. However, this was often achieved at the cost of increased complexity, raising concerns about the interpretability and the reliability of deep…

Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…

Image outpainting technology generates visually plausible content regardless of authenticity, making it unreliable to be applied in practice. Thus, we propose a reliable image outpainting task, introducing the sparse depth from LiDARs to…

This work considers the problem of depth completion, with or without image data, where an algorithm may measure the depth of a prescribed limited number of pixels. The algorithmic challenge is to choose pixel positions strategically and…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Depth estimation is critical in autonomous driving for interpreting 3D scenes accurately. Recently, radar-camera depth estimation has become of sufficient interest due to the robustness and low-cost properties of radar. Thus, this paper…

We aim at predicting a complete and high-resolution depth map from incomplete, sparse and noisy depth measurements. Existing methods handle this problem either by exploiting various regularizations on the depth maps directly or resorting to…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…