@inproceedings{e101b67174f04fb1b2b6348745c0b046,
title = "LiDAR-ToF-Binocular depth fusion using gradient priors",
abstract = "Most robotic systems face a complex environment in which a single vision sensor cannot fully sense surroundings. In this paper, we focus on how to combining the depth image of traditional binocular camera, novel ToF (time-of-flight) camera and emerging 16-line LiDAR (light detection and ranging), to accurately obtain a dense depth image. In order to unify the depth image to the same perspective of different sensors, we employ a simple method for extrinsic parameter calibration. Based on the unified depth image, a fast and accurate fusion algorithm is developed. Our experiments illustrate that the proposed method can greatly improve the depth density and accuracy, while keeping a fast running speed.",
keywords = "Binocular camera, Depth image, Fusion, LiDAR, Time of flight camera",
author = "Xiaoming Zhao and Weihai Chen and Ziyang Liu and Xinzhi Ma and Lingkun Kong and Xingming Wu and Haosong Yue and Xing Yan",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 32nd Chinese Control and Decision Conference, CCDC 2020 ; Conference date: 22-08-2020 Through 24-08-2020",
year = "2020",
month = aug,
doi = "10.1109/CCDC49329.2020.9163815",
language = "英语",
series = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2024--2029",
booktitle = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",
address = "美国",
}