LiDARとステレオカメラの融合による堅牢で高精度な深度推定
Robust and accurate depth estimation by fusing LiDAR and Stereo
LiDARの高精度な深度情報をステレオカメラの視差に変換・補間し、ステレオマッチングと融合することで、テクスチャや照明の影響を受けにくい高精度な深度推定手法を提案した。
著者: Guangyao Xu, Junfeng Fan, En Li, Xiaoyu Long, Rui Guo
分類: cs.CV, cs.RO
原文アブストラクト
Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a precision and robust method for fusing the LiDAR and stereo cameras is proposed. This method fully combines the advantages of the LiDAR and stereo camera, which can retain the advantages of the high precision of the LiDAR and the high resolution of images respectively. Compared with the traditional stereo matching method, the texture of the object and lighting conditions have less influence on the algorithm. Firstly, the depth of the LiDAR data is converted to the disparity of the stereo camera. Because the density of the LiDAR data is relatively sparse on the y-axis, the converted disparity map is up-sampled using the interpolation method. Secondly, in order to make full use of the precise disparity map, the disparity map and stereo matching are fused to propagate the accurate disparity. Finally, the disparity map is converted to the depth map. Moreover, the converted disparity map can also increase the speed of the algorithm. We evaluate the proposed pipeline on the KITTI benchmark. The experiment demonstrates that our algorithm has higher accuracy than several classic methods.
