Robust and accurate depth estimation by fusing LiDAR and stereo

doi:10.1088/1361-6501/acef47

	Robust and accurate depth estimation by fusing LiDAR and stereo
	Xu, Guangyao1 ; Cao, Xuewei1 ; Liu, Jiaxin 2; Fan, Junfeng 1; Li, En1 ; Long, Xiaoyu 1
发表期刊	MEASUREMENT SCIENCE AND TECHNOLOGY
ISSN	0957-0233
	2023-12-01
卷号	34 期号:12 页码:11
通讯作者	Li, En(en.li@ia.ac.cn)
摘要	Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the sensor's performance. Therefore, a precise and robust method for fusing LiDAR and stereo cameras is proposed. This method fully combines the advantages of the LiDAR and stereo cameras, which can retain the advantages of the high precision of the LiDAR and the high resolution of images respectively. Compared with the traditional stereo matching method, the texture of the object and lighting conditions have less influence on the algorithm. Firstly, the depth of the LiDAR data is converted to the disparity of the stereo camera. Because the density of the LiDAR data is relatively sparse on the y-axis, the converted disparity map is up-sampled using the interpolation method. Secondly, in order to make full use of the precise disparity map, the disparity map and stereo-matching are fused to propagate the accurate disparity. Finally, the disparity map is converted to the depth map. Moreover, the converted disparity map can also increase the speed of the algorithm. We evaluate the proposed pipeline on the KITTI benchmark. The experiment demonstrates that our algorithm has higher accuracy than several classic methods.
关键词	stereo matching LiDAR depth estimation multi-sensor fusion up-sampling
DOI	10.1088/1361-6501/acef47
关键词[WOS]	NETWORK
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62273344] ; National Natural Science Foundation of China[61973300]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS记录号	WOS:001051857900001
出版者	IOP Publishing Ltd
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54012
专题	复杂系统认知与决策实验室中科院工业视觉智能装备工程实验室
通讯作者	Li, En
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100000, Peoples R China 2.State Grid Liaoning Elect Power Co Ltd, Shenyang 110000, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Xu, Guangyao,Cao, Xuewei,Liu, Jiaxin,et al. Robust and accurate depth estimation by fusing LiDAR and stereo[J]. MEASUREMENT SCIENCE AND TECHNOLOGY,2023,34(12):11.
APA	Xu, Guangyao,Cao, Xuewei,Liu, Jiaxin,Fan, Junfeng,Li, En,&Long, Xiaoyu.(2023).Robust and accurate depth estimation by fusing LiDAR and stereo.MEASUREMENT SCIENCE AND TECHNOLOGY,34(12),11.
MLA	Xu, Guangyao,et al."Robust and accurate depth estimation by fusing LiDAR and stereo".MEASUREMENT SCIENCE AND TECHNOLOGY 34.12(2023):11.