Sensing Range Extension for Short-Baseline Stereo Camera Using Monocular Depth Estimation

Sensors

卷:22

Hoon Choi¹  Beom-Su Seo²  Byungjae Park³ 

[1] Department of Artificial Intelligence, Chungnam National University, Daejeon 34134, Korea;

[2] Intelligent Robotics Research Division, AI Research Laboratory, Electronics and Telecommunication Research Institute (ETRI), Daejeon 34129, Korea;

[3] School of Mechanical Engineering, Korea University of Technology and Education, Cheonan 31253, Korea;

关键词: stereo camera;    depth estimation;    convolution neural network;   

DOI  :  10.3390/s22124605

来源: DOAJ

【 摘 要 】

This paper proposes a method to extend a sensing range of a short-baseline stereo camera (SBSC). The proposed method combines a stereo depth and a monocular depth estimated by a convolutional neural network-based monocular depth estimation (MDE). To combine a stereo depth and a monocular depth, the proposed method estimates a scale factor of a monocular depth using stereo depth–mono depth pairs and then combines the two depths. Another advantage of the proposed method is that the trained MDE model may be utilized for different environments without retraining. The performance of the proposed method is verified qualitatively and quantitatively using the directly collected and open datasets.

【 授权许可】

Unknown