68,488 research outputs found
Double Refinement Network for Efficient Indoor Monocular Depth Estimation
Monocular depth estimation is the task of obtaining a measure of distance for
each pixel using a single image. It is an important problem in computer vision
and is usually solved using neural networks. Though recent works in this area
have shown significant improvement in accuracy, the state-of-the-art methods
tend to require massive amounts of memory and time to process an image. The
main purpose of this work is to improve the performance of the latest solutions
with no decrease in accuracy. To this end, we introduce the Double Refinement
Network architecture. The proposed method achieves state-of-the-art results on
the standard benchmark RGB-D dataset NYU Depth v2, while its frames per second
rate is significantly higher (up to 18 times speedup per image at batch size 1)
and the RAM usage per image is lower
Sparse-to-Continuous: Enhancing Monocular Depth Estimation using Occupancy Maps
This paper addresses the problem of single image depth estimation (SIDE),
focusing on improving the quality of deep neural network predictions. In a
supervised learning scenario, the quality of predictions is intrinsically
related to the training labels, which guide the optimization process. For
indoor scenes, structured-light-based depth sensors (e.g. Kinect) are able to
provide dense, albeit short-range, depth maps. On the other hand, for outdoor
scenes, LiDARs are considered the standard sensor, which comparatively provides
much sparser measurements, especially in areas further away. Rather than
modifying the neural network architecture to deal with sparse depth maps, this
article introduces a novel densification method for depth maps, using the
Hilbert Maps framework. A continuous occupancy map is produced based on 3D
points from LiDAR scans, and the resulting reconstructed surface is projected
into a 2D depth map with arbitrary resolution. Experiments conducted with
various subsets of the KITTI dataset show a significant improvement produced by
the proposed Sparse-to-Continuous technique, without the introduction of extra
information into the training stage.Comment: Accepted. (c) 2019 IEEE. Personal use of this material is permitted.
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A Deep Primal-Dual Network for Guided Depth Super-Resolution
In this paper we present a novel method to increase the spatial resolution of
depth images. We combine a deep fully convolutional network with a non-local
variational method in a deep primal-dual network. The joint network computes a
noise-free, high-resolution estimate from a noisy, low-resolution input depth
map. Additionally, a high-resolution intensity image is used to guide the
reconstruction in the network. By unrolling the optimization steps of a
first-order primal-dual algorithm and formulating it as a network, we can train
our joint method end-to-end. This not only enables us to learn the weights of
the fully convolutional network, but also to optimize all parameters of the
variational method and its optimization procedure. The training of such a deep
network requires a large dataset for supervision. Therefore, we generate
high-quality depth maps and corresponding color images with a physically based
renderer. In an exhaustive evaluation we show that our method outperforms the
state-of-the-art on multiple benchmarks.Comment: BMVC 201
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