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학술지 Sensing Range Extension for Short-Baseline Stereo Camera Using Monocular Depth Estimation
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저자
서범수, 박병재, 최훈
발행일
202206
출처
Sensors, v.22 no.12, pp.1-15
ISSN
1424-8220
출판사
MDPI
DOI
https://dx.doi.org/10.3390/s22124605
협약과제
22HS5900, 다수 로봇의 지능을 통합 고도화하는 클라우드 로봇 지능 증강·공유 및 프레임워크 기술 개발, 송병열
초록
This paper proposes a method to extend a sensing range of a short-baseline stereo camera (SBSC). The proposed method combines a stereo depth and a monocular depth estimated by a convolutional neural network-based monocular depth estimation (MDE). To combine a stereo depth and a monocular depth, the proposed method estimates a scale factor of a monocular depth using stereo depth?뱈ono depth pairs and then combines the two depths. Another advantage of the proposed method is that the trained MDE model may be utilized for different environments without retraining. The performance of the proposed method is verified qualitatively and quantitatively using the directly collected and open datasets.
KSP 제안 키워드
Convolution neural network(CNN), Monocular depth estimation, Range extension, different environments, network-based, open datasets, scale factor, sensing range, stereo camera
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