未見のフィールドロボティクス環境における極めて疎な深度計測を用いた深度補完
Depth Completion in Unseen Field Robotics Environments Using Extremely Sparse Depth Measurements
合成データで学習し、極めて疎な深度センサ計測から未見のフィールド環境で密なメートル深度を予測する深度補完モデルを提案。
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著者: Marco Job, Thomas Stastny, Eleni Kelasidi, Roland Siegwart, Michael Pantic
分類: cs.RO
原文アブストラクト
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth sensors; however, their adoption in field robotics remains limited due to the absence of reliable scale cues, ambiguous or low-texture conditions, and the scarcity of large-scale datasets. To address these challenges, we propose a depth completion model that trains on synthetic data and uses extremely sparse measurements from depth sensors to predict dense metric depth in unseen field robotics environments. A synthetic dataset generation pipeline tailored to field robotics enables the creation of multiple realistic datasets for training purposes. This dataset generation approach utilizes textured 3D meshes from Structure from Motion and photorealistic rendering with novel viewpoint synthesis to simulate diverse field robotics scenarios. Our approach achieves an end-to-end latency of 53 ms per frame on a Nvidia Jetson AGX Orin, enabling real-time deployment on embedded platforms. Extensive evaluation demonstrates competitive performance across diverse real-world field robotics scenarios.
