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| Main Authors: | , , , |
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| Format: | Preprint |
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2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.12759 |
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| _version_ | 1866914803971260416 |
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| author | Brucker, Samuel Walz, Stefanie Bijelic, Mario Heide, Felix |
| author_facet | Brucker, Samuel Walz, Stefanie Bijelic, Mario Heide, Felix |
| contents | Gated cameras flood-illuminate a scene and capture the time-gated impulse response of a scene. By employing nanosecond-scale gates, existing sensors are capable of capturing mega-pixel gated images, delivering dense depth improving on today's LiDAR sensors in spatial resolution and depth precision. Although gated depth estimation methods deliver a million of depth estimates per frame, their resolution is still an order below existing RGB imaging methods. In this work, we combine high-resolution stereo HDR RCCB cameras with gated imaging, allowing us to exploit depth cues from active gating, multi-view RGB and multi-view NIR sensing -- multi-view and gated cues across the entire spectrum. The resulting capture system consists only of low-cost CMOS sensors and flood-illumination. We propose a novel stereo-depth estimation method that is capable of exploiting these multi-modal multi-view depth cues, including the active illumination that is measured by the RCCB camera when removing the IR-cut filter. The proposed method achieves accurate depth at long ranges, outperforming the next best existing method by 39% for ranges of 100 to 220m in MAE on accumulated LiDAR ground-truth. Our code, models and datasets are available at https://light.princeton.edu/gatedrccbstereo/ . |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_12759 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Cross-spectral Gated-RGB Stereo Depth Estimation Brucker, Samuel Walz, Stefanie Bijelic, Mario Heide, Felix Computer Vision and Pattern Recognition Gated cameras flood-illuminate a scene and capture the time-gated impulse response of a scene. By employing nanosecond-scale gates, existing sensors are capable of capturing mega-pixel gated images, delivering dense depth improving on today's LiDAR sensors in spatial resolution and depth precision. Although gated depth estimation methods deliver a million of depth estimates per frame, their resolution is still an order below existing RGB imaging methods. In this work, we combine high-resolution stereo HDR RCCB cameras with gated imaging, allowing us to exploit depth cues from active gating, multi-view RGB and multi-view NIR sensing -- multi-view and gated cues across the entire spectrum. The resulting capture system consists only of low-cost CMOS sensors and flood-illumination. We propose a novel stereo-depth estimation method that is capable of exploiting these multi-modal multi-view depth cues, including the active illumination that is measured by the RCCB camera when removing the IR-cut filter. The proposed method achieves accurate depth at long ranges, outperforming the next best existing method by 39% for ranges of 100 to 220m in MAE on accumulated LiDAR ground-truth. Our code, models and datasets are available at https://light.princeton.edu/gatedrccbstereo/ . |
| title | Cross-spectral Gated-RGB Stereo Depth Estimation |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2405.12759 |