6,212 research outputs found
Accurate Light Field Depth Estimation with Superpixel Regularization over Partially Occluded Regions
Depth estimation is a fundamental problem for light field photography
applications. Numerous methods have been proposed in recent years, which either
focus on crafting cost terms for more robust matching, or on analyzing the
geometry of scene structures embedded in the epipolar-plane images. Significant
improvements have been made in terms of overall depth estimation error;
however, current state-of-the-art methods still show limitations in handling
intricate occluding structures and complex scenes with multiple occlusions. To
address these challenging issues, we propose a very effective depth estimation
framework which focuses on regularizing the initial label confidence map and
edge strength weights. Specifically, we first detect partially occluded
boundary regions (POBR) via superpixel based regularization. Series of
shrinkage/reinforcement operations are then applied on the label confidence map
and edge strength weights over the POBR. We show that after weight
manipulations, even a low-complexity weighted least squares model can produce
much better depth estimation than state-of-the-art methods in terms of average
disparity error rate, occlusion boundary precision-recall rate, and the
preservation of intricate visual features
Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image
We consider the problem of dense depth prediction from a sparse set of depth
measurements and a single RGB image. Since depth estimation from monocular
images alone is inherently ambiguous and unreliable, to attain a higher level
of robustness and accuracy, we introduce additional sparse depth samples, which
are either acquired with a low-resolution depth sensor or computed via visual
Simultaneous Localization and Mapping (SLAM) algorithms. We propose the use of
a single deep regression network to learn directly from the RGB-D raw data, and
explore the impact of number of depth samples on prediction accuracy. Our
experiments show that, compared to using only RGB images, the addition of 100
spatially random depth samples reduces the prediction root-mean-square error by
50% on the NYU-Depth-v2 indoor dataset. It also boosts the percentage of
reliable prediction from 59% to 92% on the KITTI dataset. We demonstrate two
applications of the proposed algorithm: a plug-in module in SLAM to convert
sparse maps to dense maps, and super-resolution for LiDARs. Software and video
demonstration are publicly available.Comment: accepted to ICRA 2018. 8 pages, 8 figures, 3 tables. Video at
https://www.youtube.com/watch?v=vNIIT_M7x7Y. Code at
https://github.com/fangchangma/sparse-to-dens
Light Field Super-Resolution Via Graph-Based Regularization
Light field cameras capture the 3D information in a scene with a single
exposure. This special feature makes light field cameras very appealing for a
variety of applications: from post-capture refocus, to depth estimation and
image-based rendering. However, light field cameras suffer by design from
strong limitations in their spatial resolution, which should therefore be
augmented by computational methods. On the one hand, off-the-shelf single-frame
and multi-frame super-resolution algorithms are not ideal for light field data,
as they do not consider its particular structure. On the other hand, the few
super-resolution algorithms explicitly tailored for light field data exhibit
significant limitations, such as the need to estimate an explicit disparity map
at each view. In this work we propose a new light field super-resolution
algorithm meant to address these limitations. We adopt a multi-frame alike
super-resolution approach, where the complementary information in the different
light field views is used to augment the spatial resolution of the whole light
field. We show that coupling the multi-frame approach with a graph regularizer,
that enforces the light field structure via nonlocal self similarities, permits
to avoid the costly and challenging disparity estimation step for all the
views. Extensive experiments show that the new algorithm compares favorably to
the other state-of-the-art methods for light field super-resolution, both in
terms of PSNR and visual quality.Comment: This new version includes more material. In particular, we added: a
new section on the computational complexity of the proposed algorithm,
experimental comparisons with a CNN-based super-resolution algorithm, and new
experiments on a third datase
Variational Disparity Estimation Framework for Plenoptic Image
This paper presents a computational framework for accurately estimating the
disparity map of plenoptic images. The proposed framework is based on the
variational principle and provides intrinsic sub-pixel precision. The
light-field motion tensor introduced in the framework allows us to combine
advanced robust data terms as well as provides explicit treatments for
different color channels. A warping strategy is embedded in our framework for
tackling the large displacement problem. We also show that by applying a simple
regularization term and a guided median filtering, the accuracy of displacement
field at occluded area could be greatly enhanced. We demonstrate the excellent
performance of the proposed framework by intensive comparisons with the Lytro
software and contemporary approaches on both synthetic and real-world datasets
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