Real-time depth completion based on LiDAR-stereo for autonomous driving

doi:10.3389/fnbot.2023.1124676

CIOMP OpenIR

	Real-time depth completion based on LiDAR-stereo for autonomous driving
	M. Wei, M. Zhu, Y. Zhang, J. Wang and J. Sun
	2023
发表期刊	Frontiers in Neurorobotics
ISSN	16625218
卷号	17
摘要	The integration of multiple sensors is a crucial and emerging trend in the development of autonomous driving technology. The depth image obtained by stereo matching of the binocular camera is easily influenced by environment and distance. The point cloud of LiDAR has strong penetrability. However, it is much sparser than binocular images. LiDAR-stereo fusion can neutralize the advantages of the two sensors and maximize the acquisition of reliable three-dimensional information to improve the safety of automatic driving. Cross-sensor fusion is a key issue in the development of autonomous driving technology. This study proposed a real-time LiDAR-stereo depth completion network without 3D convolution to fuse point clouds and binocular images using injection guidance. At the same time, a kernel-connected spatial propagation network was utilized to refine the depth. The output of dense 3D information is more accurate for autonomous driving. Experimental results on the KITTI dataset showed that our method used real-time techniques effectively. Further, we demonstrated our solution's ability to address sensor defects and challenging environmental conditions using the p-KITTI dataset. Copyright © 2023 Wei, Zhu, Zhang, Wang and Sun.
DOI	10.3389/fnbot.2023.1124676
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收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/68010
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	M. Wei, M. Zhu, Y. Zhang, J. Wang and J. Sun. Real-time depth completion based on LiDAR-stereo for autonomous driving[J]. Frontiers in Neurorobotics,2023,17.
APA	M. Wei, M. Zhu, Y. Zhang, J. Wang and J. Sun.(2023).Real-time depth completion based on LiDAR-stereo for autonomous driving.Frontiers in Neurorobotics,17.
MLA	M. Wei, M. Zhu, Y. Zhang, J. Wang and J. Sun."Real-time depth completion based on LiDAR-stereo for autonomous driving".Frontiers in Neurorobotics 17(2023).

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Real-time depth comp（5059KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览请求全文