4,768 research outputs found
Computing the Stereo Matching Cost with a Convolutional Neural Network
We present a method for extracting depth information from a rectified image
pair. We train a convolutional neural network to predict how well two image
patches match and use it to compute the stereo matching cost. The cost is
refined by cross-based cost aggregation and semiglobal matching, followed by a
left-right consistency check to eliminate errors in the occluded regions. Our
stereo method achieves an error rate of 2.61 % on the KITTI stereo dataset and
is currently (August 2014) the top performing method on this dataset.Comment: Conference on Computer Vision and Pattern Recognition (CVPR), June
201
Anytime Stereo Image Depth Estimation on Mobile Devices
Many applications of stereo depth estimation in robotics require the
generation of accurate disparity maps in real time under significant
computational constraints. Current state-of-the-art algorithms force a choice
between either generating accurate mappings at a slow pace, or quickly
generating inaccurate ones, and additionally these methods typically require
far too many parameters to be usable on power- or memory-constrained devices.
Motivated by these shortcomings, we propose a novel approach for disparity
prediction in the anytime setting. In contrast to prior work, our end-to-end
learned approach can trade off computation and accuracy at inference time.
Depth estimation is performed in stages, during which the model can be queried
at any time to output its current best estimate. Our final model can process
1242375 resolution images within a range of 10-35 FPS on an NVIDIA
Jetson TX2 module with only marginal increases in error -- using two orders of
magnitude fewer parameters than the most competitive baseline. The source code
is available at https://github.com/mileyan/AnyNet .Comment: Accepted by ICRA201
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