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Cross-spectral Gated-RGB Stereo Depth Estimation

Samuel Brucker · Stefanie Walz · Mario Bijelic · Felix Heide

Arch 4A-E Poster #203
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Fri 21 Jun 10:30 a.m. PDT — noon PDT


Gated cameras flood-illuminate a scene and capture the time-gated impulse response of a scene. By employing nanosecond-scale gates, existing sensors are capable of capturing mega-pixel gated images, delivering dense depth improving on today's LiDAR sensors in spatial resolution and depth precision. Although gated depth estimation methods deliver a million of depth estimates per frame, their resolution is still an order below existing RGB imaging methods. In this work, we combine high-resolution stereo HDR RCCB cameras with gated imaging, allowing us to exploit depth cues from active gating, multi-view RGB and multi-view NIR sensing -- multi-view and gated cues across the entire spectrum. The resulting capture system consists only of low-cost CMOS sensors and flood-illumination. We propose a novel stereo-depth estimation method that is capable of exploiting these multi-modal multi-view depth cues, including the active illumination that is measured by the RCCB camera when removing the IR-cut filter. The proposed method achieves accurate depth at long ranges up to 220 m, outperforming the next best existing method by 16\% in MAE on accumulated LiDAR ground-truth.

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