Depth Completion with RGB Prior [article]

Yuri Feldman, Yoel Shapiro, Dotan Di Castro
2020 arXiv   pre-print
Depth cameras are a prominent perception system for robotics, especially when operating in natural unstructured environments. Industrial applications, however, typically involve reflective objects under harsh lighting conditions, a challenging scenario for depth cameras, as it induces numerous reflections and deflections, leading to loss of robustness and deteriorated accuracy. Here, we developed a deep model to correct the depth channel in RGBD images, aiming to restore the depth information
more » ... the required accuracy. To train the model, we created a novel industrial dataset that we now present to the public. The data was collected with low-end depth cameras and the ground truth depth was generated by multi-view fusion.
arXiv:2008.07861v1 fatcat:jkptc5ytxzdzjl76i6sidgodm4