An Efficient Information-Reinforced Lidar Deep Completion Network without RGB Guided

Abstract

Due to the sparsity of point clouds obtained by LIDAR, the depth information is usually not complete and dense. The depth completion task is to recover dense depth information from sparse depth information. However, most of the current deep completion networks use RGB images as guidance, which are more like a processing method of information fusion. They are not valid when there is only sparse depth data and no other color information. Therefore, this paper proposes an information-reinforced completion network for a single sparse depth input. We use a multi-resolution dense progressive fusion structure to maximize the multi-scale information and optimize the global situation by point folding. At the same time, we re-aggregate the confidence and impose another depth constraint on the pixel depth to make the depth estimation closer to the ground trues. Our experimental results on KITTI and NYU Depth v2 datasets show that the proposed network achieves better results than other unguided deep completion methods. And it is excellent in both accuracy and real-time performance.