Semantically Guided Depth Upsampling

We present a novel method for accurate and efficient up- sampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through structured edge detection and semantic scene labeling for guidance. Both cues are combined within a geodesic distance measure that allows for boundary-preserving depth in- terpolation while utilizing local context. We model the observed scene structure by locally planar elements and formulate the upsampling task as a global energy minimization problem. Our method determines glob- ally consistent solutions and preserves fine details and sharp depth bound- aries. In our experiments on several public datasets at different levels of application, we demonstrate superior performance of our approach over the state-of-the-art, even for very sparse measurements.Comment: German Conference on Pattern Recognition 2016 (Oral

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. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other work

Unsupervised Sparse Dirichlet-Net for Hyperspectral Image Super-Resolution

In many computer vision applications, obtaining images of high resolution in both the spatial and spectral domains are equally important. However, due to hardware limitations, one can only expect to acquire images of high resolution in either the spatial or spectral domains. This paper focuses on hyperspectral image super-resolution (HSI-SR), where a hyperspectral image (HSI) with low spatial resolution (LR) but high spectral resolution is fused with a multispectral image (MSI) with high spatial resolution (HR) but low spectral resolution to obtain HR HSI. Existing deep learning-based solutions are all supervised that would need a large training set and the availability of HR HSI, which is unrealistic. Here, we make the first attempt to solving the HSI-SR problem using an unsupervised encoder-decoder architecture that carries the following uniquenesses. First, it is composed of two encoder-decoder networks, coupled through a shared decoder, in order to preserve the rich spectral information from the HSI network. Second, the network encourages the representations from both modalities to follow a sparse Dirichlet distribution which naturally incorporates the two physical constraints of HSI and MSI. Third, the angular difference between representations are minimized in order to reduce the spectral distortion. We refer to the proposed architecture as unsupervised Sparse Dirichlet-Net, or uSDN. Extensive experimental results demonstrate the superior performance of uSDN as compared to the state-of-the-art.Comment: Accepted by The IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2018, Spotlight

Estimating Depth from RGB and Sparse Sensing

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth maps at nearly real-time speeds on both the NYUv2 and KITTI datasets. We surpass the state-of-the-art for monocular depth estimation even with depth values for only 1 out of every ~10000 image pixels, and we outperform other sparse-to-dense depth methods at all sparsity levels. With depth values for 1/256 of the image pixels, we achieve a mean absolute error of less than 1% of actual depth on indoor scenes, comparable to the performance of consumer-grade depth sensor hardware. Our experiments demonstrate that it would indeed be possible to efficiently transform sparse depth measurements obtained using e.g. lower-power depth sensors or SLAM systems into high-quality dense depth maps.Comment: European Conference on Computer Vision (ECCV) 2018. Updated to camera-ready version with additional experiment

Deep Depth Completion of a Single RGB-D Image

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that takes an RGB image as input and predicts dense surface normals and occlusion boundaries. Those predictions are then combined with raw depth observations provided by the RGB-D camera to solve for depths for all pixels, including those missing in the original observation. This method was chosen over others (e.g., inpainting depths directly) as the result of extensive experiments with a new depth completion benchmark dataset, where holes are filled in training data through the rendering of surface reconstructions created from multiview RGB-D scans. Experiments with different network inputs, depth representations, loss functions, optimization methods, inpainting methods, and deep depth estimation networks show that our proposed approach provides better depth completions than these alternatives.Comment: Accepted by CVPR2018 (Spotlight). Project webpage: http://deepcompletion.cs.princeton.edu/ This version includes supplementary materials which provide more implementation details, quantitative evaluation, and qualitative results. Due to file size limit, please check project website for high-res pape