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arXiv · 1706.05999

Guided Depth Upsampling for Precise Mapping of Urban Environments

Sascha Wirges·Björn Roxin·Eike Rehder·Tilman Kühner·Martin Lauer
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Abstract

We present an improved model for MRF-based depth upsampling, guided by image- as well as 3D surface normal features. By exploiting the underlying camera model we define a novel regularization term that implicitly evaluates the planarity of arbitrary oriented surfaces. Our method improves upsampling quality in scenes composed of predominantly planar surfaces, such as urban areas. We use a synthetic dataset to demonstrate that our approach outperforms recent methods that implement distance-based regularization terms. Finally, we validate our approach for mapping applications on our experimental vehicle.

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Sascha Wirges, Björn Roxin, Eike Rehder, Tilman Kühner, Martin Lauer. 2017-06-19. Guided Depth Upsampling for Precise Mapping of Urban Environments. https://arxiv.org/abs/1706.05999

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