Depth Estimation fusing Image and Radar Measurements with Uncertain Directions

arXiv:2403.15787v1 Announce Type: new
Abstract: This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse depths measured by radar through convolutional layers. This approach is disturbed by the features computed with the uncertain radar depths. Furthermore, since the features are computed with a fully convolutional network, the uncertainty of each depth corresponding to a pixel is spread …

abstract arxiv cs.cv features fusion image paper prior radar through type uncertain work