Bayesian Deep Basis Fitting for Depth Completion with Uncertainty

@article{Qu2021BayesianDB,
  title={Bayesian Deep Basis Fitting for Depth Completion with Uncertainty},
  author={Chao Qu and Wenxin Liu and Camillo Jose Taylor},
  journal={2021 IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2021},
  pages={16127-16137}
}
In this work we investigate the problem of uncertainty estimation for image-guided depth completion. We extend Deep Basis Fitting (DBF) [54] for depth completion within a Bayesian evidence framework to provide calibrated perpixel variance. The DBF approach frames the depth completion problem in terms of a network that produces a set of low-dimensional depth bases and a differentiable least squares fitting module that computes the basis weights using the sparse depths. By adopting a Bayesian… 
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