Journal
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Volume -, Issue -, Pages 3288-3295Publisher
IEEE
DOI: 10.1109/icra.2019.8793637
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Funding
- Office of Naval Research (ONR) [N00014-17-1-2670]
- NVIDIA Corporation
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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 pattern in the sparse depth input, the difficulty in handling multiple sensor modalities (when color images are available), as well as the lack of dense, pixel-level ground truth depth labels for training. In this work, we address all these challenges. Specifically, we develop a deep regression model to learn a direct mapping from sparse depth (and color images) input to dense depth prediction. We also propose a self-supervised training framework that requires only sequences of color and sparse depth images, without the need for dense depth labels. Our experiments demonstrate that the self-supervised framework outperforms a number of existing solutions trained with semi-dense annotations. Furthermore, when trained with semi-dense annotations, our network attains state-of-the-art accuracy and is the winning approach on the KITTI depth completion benchmark(1) at the time of submission.
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