IROS'16/IJRR "Sparse Sensing for Resource-Constrained Depth Reconstruction"
This repository contains MATLAB codes and data for sparse depth sensing, the problem of dense depth image reconstruction from very limited amount of measurements. Please refer to our paper Sparse Depth Sensing for Resource-Constrained Robots and click on the YouTube video below for more details.
demo_single_frame.m
for a demo of the reconstruction algorithm on samples from each individual frame of depth images.demo_multi_frame.m
for a demo of the reconstruction algorithm on samples collected across multiple frames, given odometry information.demo_middlebury.m
for a demo of the reconstruction algorithm on the Middlebury dataset.The code is structured as follows.
lib/algorithm
contains the core code, i.e., the formulation of our optimization problem (in l1ReconstructionOnImage.m
).lib/nesta_solver
is the implementation of the NESTA fast solver tailored to our problem.lib/geometry
handles all geometry related implementations (e.g., rigid body transformation, image projection).lib/sampling
provides functions for create a small set of measurements from the ground truth depth image.lib/utility
contains other helper functions.The data
folder contains two datasets, including
ZED
: rgb images and depth images collected from the ZED Stereo Camera.lids_floor6
: rgb and depth images collected from the Kinect sensor, along with odometry information obtained from a odometer.Tested on following hosts
Future work:
If you use our code in your research, please consider citing:
@article{Ma2017SparseDepthSensing,
title={Sparse Depth Sensing for Resource-Constrained Robots},
author={Ma, Fangchang and Carlone, Luca and Ayaz, Ulas and Karaman, Sertac},
journal={arXiv preprint arXiv:1703.01398},
year={2017}
}
@inproceedings{ma2016sparse,
title={Sparse sensing for resource-constrained depth reconstruction},
author={Ma, Fangchang and Carlone, Luca and Ayaz, Ulas and Karaman, Sertac},
booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
pages={96--103},
year={2016},
organization={IEEE}
}
Please email Fangchang Ma ([email protected]) for problems and bugs. Thanks!