Gated Stereo: Joint Depth Estimation from Gated and Wide-Baseline Active Stereo Cues

05/22/2023

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by   Stefanie Walz, et al.

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We propose Gated Stereo, a high-resolution and long-range depth estimation technique that operates on active gated stereo images. Using active and high dynamic range passive captures, Gated Stereo exploits multi-view cues alongside time-of-flight intensity cues from active gating. To this end, we propose a depth estimation method with a monocular and stereo depth prediction branch which are combined in a final fusion stage. Each block is supervised through a combination of supervised and gated self-supervision losses. To facilitate training and validation, we acquire a long-range synchronized gated stereo dataset for automotive scenarios. We find that the method achieves an improvement of more than 50 and 74 code,models and datasets are available here.