Scipediacontent: Scipediacontent moved page Draft Content 740302948 to Kumar et al 2018a

2021-02-03T19:11:25Z

Scipediacontent moved page Draft Content 740302948 to Kumar et al 2018a

Scipediacontent: Created page with " == Abstract == We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range cam..."

2021-02-03T19:11:22Z

Created page with " == Abstract == We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range cam..."

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== Abstract ==

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two sensor modalities, the accurate but sparse range measurements and the ambiguous but dense stereo information. These two sources are effectively and efficiently fused by combining ideas from anisotropic diffusion and semi-global matching. We evaluate our approach on the KITTI 2015 and Middlebury 2014 datasets, using randomly sampled ground truth range measurements as our sparse depth input. We achieve significant performance improvements with a small fraction of range measurements on both datasets. We also provide qualitative results from our platform using the PMDTec Monstar sensor. Our entire pipeline runs on an NVIDIA TX-2 platform at 5Hz on 1280x1024 stereo images with 128 disparity levels.

Comment: 7 pages, 5 figures, 2 table

== Original document ==

The different versions of the original document can be found in:

* [http://arxiv.org/abs/1809.07677 http://arxiv.org/abs/1809.07677]

* [http://arxiv.org/pdf/1809.07677 http://arxiv.org/pdf/1809.07677]

* [http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794023.pdf?arnumber=8794023 http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794023.pdf?arnumber=8794023],
: [http://dx.doi.org/10.1109/icra.2019.8794023 http://dx.doi.org/10.1109/icra.2019.8794023]

* [https://arxiv.org/pdf/1809.07677.pdf https://arxiv.org/pdf/1809.07677.pdf],
: [https://dblp.uni-trier.de/db/conf/icra/icra2019.html#ShivakumarMPKT19 https://dblp.uni-trier.de/db/conf/icra/icra2019.html#ShivakumarMPKT19],
: [https://ieeexplore.ieee.org/abstract/document/8794023 https://ieeexplore.ieee.org/abstract/document/8794023],
: [https://arxiv.org/abs/1809.07677 https://arxiv.org/abs/1809.07677],
: [https://www.arxiv-vanity.com/papers/1809.07677 https://www.arxiv-vanity.com/papers/1809.07677],
: [https://academic.microsoft.com/#/detail/2967922036 https://academic.microsoft.com/#/detail/2967922036]

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Scipediacontent: Scipediacontent moved page Draft Content 740302948 to Kumar et al 2018a

Scipediacontent: Created page with " == Abstract == We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range cam..."