相关论文: EfficientPENet: Real-Time Depth Completion from Sp…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

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…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

In this paper, we propose an end-to-end deep learning network named 3dDepthNet, which produces an accurate dense depth image from a single pair of sparse LiDAR depth and color image for robotics and autonomous driving tasks. Based on the…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

Deep neural networks have evolved as the leading approach in 3D medical image segmentation due to their outstanding performance. However, the ever-increasing model size and computation cost of deep neural networks have become the primary…

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

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…

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…

Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However,…

Real-time semantic segmentation plays an important role in practical applications such as self-driving and robots. Most semantic segmentation research focuses on improving estimation accuracy with little consideration on efficiency. Several…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

With the wide application of sparse ToF sensors in mobile devices, RGB image-guided sparse depth completion has attracted extensive attention recently, but still faces some problems. First, the fusion of multimodal information requires more…

Road segmentation is a fundamental perception task for autonomous driving and intelligent robotic systems, requiring both high accuracy and real-time inference, especially for deployment on resource-constrained edge devices. Existing…

The high energy cost of processing deep convolutional neural networks impedes their ubiquitous deployment in energy-constrained platforms such as embedded systems and IoT devices. This work introduces convolutional layers with pre-defined…

Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

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 completion deals with the problem of recovering dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent approaches mainly focus on image guided learning frameworks to predict dense depth.…