Segmentation-guided Domain Adaptation for Efficient Depth Completion
This work addresses data efficiency and computational demands in depth completion for automated driving, though it is incremental as it builds on existing methods with hybrid improvements.
The paper tackles the problem of inefficient depth completion from sparse LiDAR data by proposing a semi-supervised domain adaptation method that uses segmentation guidance to improve spatial coherence, achieving state-of-the-art accuracy with lower computational cost on the KITTI dataset.
Complete depth information and efficient estimators have become vital ingredients in scene understanding for automated driving tasks. A major problem for LiDAR-based depth completion is the inefficient utilization of convolutions due to the lack of coherent information as provided by the sparse nature of uncorrelated LiDAR point clouds, which often leads to complex and resource-demanding networks. The problem is reinforced by the expensive aquisition of depth data for supervised training. In this work, we propose an efficient depth completion model based on a vgg05-like CNN architecture and propose a semi-supervised domain adaptation approach to transfer knowledge from synthetic to real world data to improve data-efficiency and reduce the need for a large database. In order to boost spatial coherence, we guide the learning process using segmentations as additional source of information. The efficiency and accuracy of our approach is evaluated on the KITTI dataset. Our approach improves on previous efficient and low parameter state of the art approaches while having a noticeably lower computational footprint.