Method

Point Completion Guided Depth Completion Network [3dDepthNet]
[Anonymous Submission]

Submitted on 22 Oct. 2019 22:58 by
[Anonymous Submission]

Running time:0.03 s
Environment:1 core @ 2.5 Ghz (Python)

Method Description:
we propose an end-to-end deep learning network
named 3dDepthNet, which produces an accurate
dense depth image from a single pair of sparse
LiDAR depth and color image for robotics and
autonomous driving tasks. Based on the
dimensional nature of depth images, our network
offers a novel 3D-to-2D coarse-to-fine dual
densification design that is both accurate and
lightweight. Depth densification is first
performed in 3D space via point cloud
completion, followed by a specially designed
encoder-decoder structure that utilizes the
projected dense depth from 3D completion and
the original RGB-D images to perform 2D image
completion.
Parameters:
\alpha = 0.2
Latex Bibtex:

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Sparsity Invariant CNNs (THREEDV 2017), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Sparsity Invariant CNNs (THREEDV 2017), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

iRMSE iMAE RMSE MAE
Error 2.36 1.02 798.44 226.27
This table as LaTeX

Test Image 0

iRMSE iMAE RMSE MAE
Error 2.29 0.86 876.94 189.84
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

iRMSE iMAE RMSE MAE
Error 2.83 1.07 859.67 113.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

iRMSE iMAE RMSE MAE
Error 2.03 1.40 1161.02 424.52
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

iRMSE iMAE RMSE MAE
Error 3.17 1.56 658.71 247.36
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

iRMSE iMAE RMSE MAE
Error 2.76 1.50 563.27 228.33
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

iRMSE iMAE RMSE MAE
Error 3.62 1.04 809.18 179.33
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

iRMSE iMAE RMSE MAE
Error 10.81 1.94 513.88 190.16
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

iRMSE iMAE RMSE MAE
Error 4.32 1.46 802.59 189.41
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

iRMSE iMAE RMSE MAE
Error 2.91 0.90 1095.89 210.10
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

iRMSE iMAE RMSE MAE
Error 2.06 1.11 930.10 249.18
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

iRMSE iMAE RMSE MAE
Error 1.77 1.26 752.43 388.88
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

iRMSE iMAE RMSE MAE
Error 2.27 1.17 1227.52 419.55
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

iRMSE iMAE RMSE MAE
Error 4.46 1.96 955.33 266.46
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

iRMSE iMAE RMSE MAE
Error 1.25 0.77 750.10 196.49
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

iRMSE iMAE RMSE MAE
Error 1.80 0.83 661.76 152.80
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

iRMSE iMAE RMSE MAE
Error 3.31 1.33 510.53 171.18
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

iRMSE iMAE RMSE MAE
Error 1.37 0.70 601.99 188.94
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

iRMSE iMAE RMSE MAE
Error 1.43 0.73 767.61 194.90
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

iRMSE iMAE RMSE MAE
Error 2.01 0.92 673.87 252.53
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

iRMSE iMAE RMSE MAE
Error 1.14 0.77 681.75 217.24
This table as LaTeX

Input Image

D1 Result

D1 Error




eXTReMe Tracker