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32. [Jaritz2018]Sparse and Depth Data with
CNNs (1/3)
疎な点群データから密なDepthデータの推定とSemantic
Segmentationを同時に行う
点群データから生成した疎なDepthデータを入力とし、オプショ
ンとしてRGB画像を加え、Encoder-Decoderネットワークによっ
て点群が存在しない領域の補間
33. [Jaritz2018]Sparse and Depth Data with
CNNs (2/3)
EncoderはNASNet[1]、DecoderはU-Net[2]をベースに適用
Ground Truthの存在するUnobserved(値がない)画素のみ学
習
Depthの逆数のL1損失を使用
画像とデプスはそれぞれエンコードした状態で統合
[1] Zoph, B.,Vasudevan,V., Shlens, J., & Le, Q.V. (2018). Learning Transferable Architectures for Scalable Image Recognition.
IEEE Conference on ComputerVision and Pattern Recognition.
[2] Ronneberger, O., Fischer, P., & Brox,T. (2015). U-net: Convolutional networks for biomedical image segmentation.
International Conference on Medical Image Computing and Computer-Assisted Intervention, 234–241
34. [Jaritz2018]Sparse and Depth Data with
CNNs (3/3)
合成データ(Synthia)と実
データ(Cityscapes)に対して
Semantic Segmentationの結
果を評価
Cityscapesはステレオカメラの
視差からDepthのGround
Truthを取得