LiDAR-SGM: Semi-Global Matching on LiDAR Point Clouds and Their Cost-Based Fusion into Stereo Matching
Bianca Forkel,Hans-Joachim Wuensche,Bianca Forkel,Hans-Joachim Wuensche
Stereo matching can be used to estimate dense but inaccurate depth information for each pixel of a camera image. A LiDAR can provide accurate but sparse depth measurements. The fusion of both can combine their advantages. We propose an efficient method for fusing stereo and LiDAR at the cost level of Semi-Global Matching. It significantly improves density and accuracy of the estimated disparities ...
