Parse Geometry from a Line: Monocular Depth Estimation with Partial Laser Observation

December 2019

tl;dr: Predict dense depth from one-line lidar guided by RGB image.

Overall impression

This paper proposes to “sculpt” the entire depth image from a reference while the original depth prediction task is to creating a depth value from the unknown. This makes the problem more tractable.

Monocular depth estimation is an ill-posed problem. Using sparse depth information can be helpful in solving the scale ambiguity. Refer to Deep Depth Completion of a Single RGB-D Imag and deep lidar and sparse to dense for depth completion from unstructured sparse data.

Similar idea has been used in Camera radar fusion Net.

Key ideas

Technical details