Fast Depth Reconstruction Using Deep Convolutional Neural Networks

Abstract

In this paper, we study depth reconstruction via RGB-based, Sparse-Depth, and RGBd approaches. We showed that combination of RGB and Sparse Depth approach in RGBd scenario provides the best results. We also proved that the models performance can be further tuned via proper selection of architecture blocks and number of depth points guiding RGB-to-depth reconstruction. We also provide real-time architecture for depth estimation that is on par with state-of-the-art real-time depth reconstruction methods.