ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Camera
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866912977288953856 |
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| author | Chen, Juncheng Lai, Tiancheng Wang, Xingpeng Liao, Bingxin Zhang, Baozhe Xu, Chao Cao, Yanjun |
| author_facet | Chen, Juncheng Lai, Tiancheng Wang, Xingpeng Liao, Bingxin Zhang, Baozhe Xu, Chao Cao, Yanjun |
| contents | Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a potential solution to expand the sensing range of ToF cameras, but existing research lacks dedicated datasets and struggles to generalize to ToF measurements. In this paper, we propose a full-stack framework that enables depth completion in large-scale scenarios for short-range ToF cameras. First, we construct a multi-sensor platform with a reconstruction-based pipeline to collect real-world ToF samples with dense large-scale ground truth, yielding the first LArge-ScalE scenaRio ToF depth completion dataset (LASER-ToF). Second, we propose a sensor-aware depth completion network that incorporates a novel 3D branch with a 3D-2D Joint Propagation Pooling (JPP) module and Multimodal Cross-Covariance Attention (MXCA), enabling effective modeling of long-range relationships and efficient 3D-2D fusion under non-uniform ToF depth sparsity. Moreover, our network can utilize the sparse point cloud from visual SLAM as a supplement to ToF depth to further improve prediction accuracy. Experiments show that our method achieves an 8.6% lower mean absolute error than the second-best method, while maintaining lightweight design to support onboard deployment. Finally, to verify the system's applicability on real robots, we deploy proposed method on a quadrotor at a 10Hz runtime, enabling reliable large-scale mapping and long-range planning in challenging environments for short-range ToF cameras. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_20669 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Camera Chen, Juncheng Lai, Tiancheng Wang, Xingpeng Liao, Bingxin Zhang, Baozhe Xu, Chao Cao, Yanjun Robotics Computer Vision and Pattern Recognition Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a potential solution to expand the sensing range of ToF cameras, but existing research lacks dedicated datasets and struggles to generalize to ToF measurements. In this paper, we propose a full-stack framework that enables depth completion in large-scale scenarios for short-range ToF cameras. First, we construct a multi-sensor platform with a reconstruction-based pipeline to collect real-world ToF samples with dense large-scale ground truth, yielding the first LArge-ScalE scenaRio ToF depth completion dataset (LASER-ToF). Second, we propose a sensor-aware depth completion network that incorporates a novel 3D branch with a 3D-2D Joint Propagation Pooling (JPP) module and Multimodal Cross-Covariance Attention (MXCA), enabling effective modeling of long-range relationships and efficient 3D-2D fusion under non-uniform ToF depth sparsity. Moreover, our network can utilize the sparse point cloud from visual SLAM as a supplement to ToF depth to further improve prediction accuracy. Experiments show that our method achieves an 8.6% lower mean absolute error than the second-best method, while maintaining lightweight design to support onboard deployment. Finally, to verify the system's applicability on real robots, we deploy proposed method on a quadrotor at a 10Hz runtime, enabling reliable large-scale mapping and long-range planning in challenging environments for short-range ToF cameras. |
| title | ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Camera |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2603.20669 |