Comments (2)
Depth prediction is a critical problem in robotics applications, especially autonomous driving. However, the former usually suffers from overfitting while building cost volume, and the latter has a limited generalization due to the lack of geometric constraint. To solve these problems, we propose a novel multimodal neural network, namely UAMD-Net, for dense depth completion based on the fusion of binocular stereo matching and the weak constrain from the sparse point clouds. Specifically, the sparse point clouds are converted to sparse depth map and sent to the multimodal feature encoder (MFE) with binocular image, constructing a cross-modal cost volume. Then, it will be further processed by the multimodal feature aggregator (MFA) and the depth regression layer. Furthermore, the existing multimodal methods ignore the problem of modal dependence, that is, the network will not work when a certain modal input has a problem. Therefore, we propose a new training strategy called Modal-dropout which enables the network to be adaptively trained with multiple modal inputs and inference with specific modal inputs. Comprehensive experiments conducted on the KITTI depth completion benchmark demonstrate that our method produces robust results and outperforms other state-of-the-art methods.
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Related Issues (15)
- ICCV 2019 HOT 2
- Self-Supervised Sparse-to-Dense: Self-Supervised Depth Completion from LiDAR and Monocular Camera HOT 2
- Sparse and Noisy LiDAR Completion with RGB Guidance and Uncertainty HOT 1
- LIDAR and Monocular Camera Fusion: On-road Depth Completion for Autonomous Driving HOT 2
- Deep Adaptive LiDAR: End-to-end Optimization of Sampling and Depth Completion at Low Sampling Rates HOT 2
- Radar-Camera Pixel Depth Association for Depth Completion HOT 2
- Depth Completion via Inductive Fusion of Planar LIDAR and Monocular Camera HOT 2
- From Depth What Can You See? Depth Completion via Auxiliary Image Reconstruction HOT 2
- Grayscale And Normal Guided Depth Completion With A Low-Cost Lidar HOT 2
- Sparsity invariant cnns HOT 2
- Dynamic Spatial Propagation Network for Depth Completion HOT 3
- A comparative review of plausible hole filling strategies in the context of scene depth image completion HOT 2
- A survey on deep learning techniques for stereo-based depth estimation HOT 2
- Depth map artefacts reduction: a review HOT 2
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