In this paper, we tackle the depth completion problem. Conventional depth sensors usually produce incomplete depth maps due to the property of surface reflection, especially for the window areas, metal surfaces, and object boundaries. However, we observe that the corresponding RGB images are still dense and preserve all of the useful structural information. This brings us to the question of whether we can borrow this structural information from RGB images to inpaint the corresponding incomplete depth maps. In this paper, we answer that question by proposing a Disentangling and Exchanging Network (DEN) for depth completion. The network is designed based on an assumption that after suitable feature disentanglement, RGB images and depth maps share a common domain for representing structural information. So we firstly disentangle both RGB and depth images into domain-invariant content parts, which contain structural information, and domain-specific style parts. Then, by exchanging the complete structural information extracted from RGB image with incomplete information extracted from depth map, we can generate the complete version of depth map. Furthermore, to address the mixed-depth problem, a newly proposed depth representation is applied. By modeling depth estimation as a classification problem coupled with coefficient estimation, blurry edges are enhanced in the depth map. At last, we have implemented ablation experiments to verify the effectiveness of our proposed DEN model. The results also demonstrate the superiority of DEN over some state-of-the-art approaches.

We tackle a novel problem of learning generators for cross-domain data under a specific scenario of low-shot learning. Basically, given a source domain with sufficient amount of training data, we aim to transfer the knowledge of its generative process to another target domain, which not only has few data samples but also contains the domain shift with respect to the source domain. This problem has great potential in practical use and is different from the well-known image translation task, as the target-domain data can be generated without requiring any source-domain ones and the large data consumption for learning target-domain generator can be alleviated. Built upon a cross-domain dataset where (1) each of the low shots in the target domain has its correspondence in the source and (2) these two domains share the similar content information but different appearance, two approaches are proposed: a Latent-Disentanglement-Orientated model (LaDo) and a Generative-Hierarchy-Oriented (GenHo) model. Our LaDo and GenHo approaches address the problem from different perspectives, where the former relies on learning the disentangled representation composed of domain-invariant content features and domain-specific appearance ones; while the later decomposes the generative process of a generator into two parts for synthesizing the content and appearance sequentially. We perform extensive experiments under various settings of cross-domain data and show the efficacy of our models for generating target-domain data with the abundant content variance as in the source domain, which lead to the favourable performance in comparison to several baselines.

Obstacle avoidance and environment sensing are crucial applications in autonomous driving and robotics. Among all types of sensors, RGB camera is widely used in these applications as it can offer rich visual contents with relatively low-cost, and using a single image to perform depth estimation has become one of the main focuses in resent research works. However, prior works usually rely on highly complicated computation and power-consuming GPU to achieve such task; therefore, we focus on developing a real-time light-weight system for depth prediction in this paper. Based on the well-known encoder-decoder architecture, we propose a supervised learning-based CNN with detachable decoders that produce depth predictions with different scales. We also formulate a novel log-depth loss function that computes the difference of predicted depth map and ground truth depth map in log space, so as to increase the prediction accuracy for nearby locations. To train our model efficiently, we generate depth map and semantic segmentation with complex teacher models. Via a series of ablation studies and experiments, it is validated that our model can efficiently performs real-time depth prediction with only 0.32M parameters, with the best trained model outperforms previous works on KITTI dataset for various evaluation matrices.