Tri-Perspective View Decomposition for Geometry-Aware Depth Completion

arXiv:2403.15008v1 Announce Type: new
Abstract: Depth completion is a vital task for autonomous driving, as it involves reconstructing the precise 3D geometry of a scene from sparse and noisy depth measurements. However, most existing methods either rely only on 2D depth representations or directly incorporate raw 3D point clouds for compensation, which are still insufficient to capture the fine-grained 3D geometry of the scene. To address this challenge, we introduce Tri-Perspective view Decomposition (TPVD), a novel framework that can explicitly …

arxiv cs.cv geometry perspective type view