Yijin Li, Xinyang Liu, Wenqian Dong, Han Zhou, H. Bao, Guofeng Zhang, Yinda Zhang, Zhaopeng Cui
{"title":"DELTAR:基于轻量级ToF传感器和RGB图像的深度估计","authors":"Yijin Li, Xinyang Liu, Wenqian Dong, Han Zhou, H. Bao, Guofeng Zhang, Yinda Zhang, Zhaopeng Cui","doi":"10.48550/arXiv.2209.13362","DOIUrl":null,"url":null,"abstract":"Light-weight time-of-flight (ToF) depth sensors are small, cheap, low-energy and have been massively deployed on mobile devices for the purposes like autofocus, obstacle detection, etc. However, due to their specific measurements (depth distribution in a region instead of the depth value at a certain pixel) and extremely low resolution, they are insufficient for applications requiring high-fidelity depth such as 3D reconstruction. In this paper, we propose DELTAR, a novel method to empower light-weight ToF sensors with the capability of measuring high resolution and accurate depth by cooperating with a color image. As the core of DELTAR, a feature extractor customized for depth distribution and an attention-based neural architecture is proposed to fuse the information from the color and ToF domain efficiently. To evaluate our system in real-world scenarios, we design a data collection device and propose a new approach to calibrate the RGB camera and ToF sensor. Experiments show that our method produces more accurate depth than existing frameworks designed for depth completion and depth super-resolution and achieves on par performance with a commodity-level RGB-D sensor. Code and data are available at https://zju3dv.github.io/deltar/.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"15 1","pages":"619-636"},"PeriodicalIF":0.0000,"publicationDate":"2022-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"DELTAR: Depth Estimation from a Light-weight ToF Sensor and RGB Image\",\"authors\":\"Yijin Li, Xinyang Liu, Wenqian Dong, Han Zhou, H. Bao, Guofeng Zhang, Yinda Zhang, Zhaopeng Cui\",\"doi\":\"10.48550/arXiv.2209.13362\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Light-weight time-of-flight (ToF) depth sensors are small, cheap, low-energy and have been massively deployed on mobile devices for the purposes like autofocus, obstacle detection, etc. However, due to their specific measurements (depth distribution in a region instead of the depth value at a certain pixel) and extremely low resolution, they are insufficient for applications requiring high-fidelity depth such as 3D reconstruction. In this paper, we propose DELTAR, a novel method to empower light-weight ToF sensors with the capability of measuring high resolution and accurate depth by cooperating with a color image. As the core of DELTAR, a feature extractor customized for depth distribution and an attention-based neural architecture is proposed to fuse the information from the color and ToF domain efficiently. To evaluate our system in real-world scenarios, we design a data collection device and propose a new approach to calibrate the RGB camera and ToF sensor. Experiments show that our method produces more accurate depth than existing frameworks designed for depth completion and depth super-resolution and achieves on par performance with a commodity-level RGB-D sensor. Code and data are available at https://zju3dv.github.io/deltar/.\",\"PeriodicalId\":72676,\"journal\":{\"name\":\"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision\",\"volume\":\"15 1\",\"pages\":\"619-636\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-09-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.48550/arXiv.2209.13362\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.48550/arXiv.2209.13362","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
DELTAR: Depth Estimation from a Light-weight ToF Sensor and RGB Image
Light-weight time-of-flight (ToF) depth sensors are small, cheap, low-energy and have been massively deployed on mobile devices for the purposes like autofocus, obstacle detection, etc. However, due to their specific measurements (depth distribution in a region instead of the depth value at a certain pixel) and extremely low resolution, they are insufficient for applications requiring high-fidelity depth such as 3D reconstruction. In this paper, we propose DELTAR, a novel method to empower light-weight ToF sensors with the capability of measuring high resolution and accurate depth by cooperating with a color image. As the core of DELTAR, a feature extractor customized for depth distribution and an attention-based neural architecture is proposed to fuse the information from the color and ToF domain efficiently. To evaluate our system in real-world scenarios, we design a data collection device and propose a new approach to calibrate the RGB camera and ToF sensor. Experiments show that our method produces more accurate depth than existing frameworks designed for depth completion and depth super-resolution and achieves on par performance with a commodity-level RGB-D sensor. Code and data are available at https://zju3dv.github.io/deltar/.