Parse geometry from a line: Monocular depth estimation with partial laser observation

  title={Parse geometry from a line: Monocular depth estimation with partial laser observation},
  author={Yiyi Liao and Lichao Huang and Yue Wang and Sarath Kodagoda and Yinan Yu and Y. Liu},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  • Yiyi Liao, Lichao Huang, Y. Liu
  • Published 17 October 2016
  • Computer Science
  • 2017 IEEE International Conference on Robotics and Automation (ICRA)
Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many robotics activities. Therefore, recently, there is an increasing interest in depth estimation using monocular images. As this task is inherently ambiguous, the data-driven estimated depth might be unreliable in robotics applications. In this paper, we have… 

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