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Uncertainty depth estimation with gated images for 3D reconstruction
Gated imaging is an emerging sensor technology for self-driving cars tha...
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Gated3D: Monocular 3D Object Detection From Temporal Illumination Cues
Today's state-of-the-art methods for 3D object detection are based on li...
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A MEMS-based Foveating LIDAR to enable Real-time Adaptive Depth Sensing
Most active depth sensors sample their visual field using a fixed patter...
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Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
High performance lidars are essential in autonomous robots such as self-...
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High-resolution LIDAR-based Depth Mapping using Bilateral Filter
High resolution depth-maps, obtained by upsampling sparse range data fro...
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Learning Super-resolved Depth from Active Gated Imaging
Environment perception for autonomous driving is doomed by the trade-off...
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Forest Tree Detection and Segmentation using High Resolution Airborne LiDAR
This paper presents an autonomous approach to tree detection and segment...
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Gated2Depth: Real-time Dense Lidar from Gated Images
We present an imaging framework which converts three images from a gated camera into high-resolution depth maps with depth resolution comparable to pulsed lidar measurements. Existing scanning lidar systems achieve low spatial resolution at large ranges due to mechanically-limited angular sampling rates, restricting scene understanding tasks to close-range clusters with dense sampling. In addition, today's lidar detector technologies, short-pulsed laser sources and scanning mechanics result in high cost, power consumption and large form-factors. We depart from point scanning and propose a learned architecture that recovers high-fidelity dense depth from three temporally gated images, acquired with a flash source and a high-resolution CMOS sensor. The proposed architecture exploits semantic context across gated slices, and is trained on a synthetic discriminator loss without the need of dense depth labels. The method is real-time and essentially turns a gated camera into a low-cost dense flash lidar which we validate on a wide range of outdoor driving captures and in simulations.
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