3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Yifu Tao,Marija Popović,Yiduo Wang,Sundara Tejaswi Digumarti,Nived Chebrolu,Maurice Fallon,Yifu Tao,Marija Popović,Yiduo Wang,Sundara Tejaswi Digumarti,Nived Chebrolu,Maurice Fallon
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth measurements. We present a learning-aided 3D lidar reconstruction framework that upsamples sparse lidar depth measurements with the aid of overlapping camera images so ...
