Infrared and Laser Engineering, Volume. 53, Issue 7, 20240104(2024)
Vision-guided laser range-gated 3D imaging
Figures & Tables(10)
Fig. 2. Range-gated 3D imaging model integrating attention mechanism. (a) System architecture diagram; (b) Network model
Fig. 5. Dataset displays three selected image slices with different delays for the same scene, including (a) Slice1, (b) Slice2, (c) Slice3; (d) LiDAR images; (e) RGB images
Table 1. Comparison experiment results at day
View tableView in ArticleTable 1. Comparison experiment results at day
Method RMSE ARD MAE δ1 δ2 δ3 Ours 7.60 0.12 3.50 88.84 94.55 96.62 SGM[ 16 ]9.63 0.17 4.59 85.80 92.72 95.20 G2d[ 12 ]7.61 0.12 3.53 88.07 94.32 96.60 Monodepth[ 17 ]13.33 0.40 9.51 36.64 81.63 92.82 PackNet[ 18 ]12.44 0.27 7.23 66.32 85.85 92.40 AdaBins[ 19 ]9.73 0.25 0.20 77.59 91.82 96.36
Table 2. Comparison experiment results at night
View tableView in ArticleTable 2. Comparison experiment results at night
Method RMSE ARD MAE δ1 δ2 δ3 Ours 8.20 0.13 3.55 88.64 93.05 95.32 SGM[ 16 ]15.51 0.36 8.57 63.94 76.19 82.31 G2d[ 12 ]8.39 0.15 3.79 87.52 93.00 95.21 Monodepth[ 17 ]11.41 0.23 6.18 76.64 89.53 94.19 PackNet[ 18 ]12.15 0.27 6.87 69.14 86.93 92.57 AdaBins[ 19 ]10.99 0.29 0.22 75.59 89.16 94.58
Table 3. Results of ablation experiment
View tableView in ArticleTable 3. Results of ablation experiment
Method RMSE ARD MAE δ1 δ2 δ3 Ours 8.20 0.13 3.55 88.64 93.05 95.32 Attention 8.20 0.15 3.61 88.2 93.05 95.30 Depth completion 8.35 0.16 3.76 87.85 93 95.25 U-net 8.39 0.15 3.79 87.52 93 95.21
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Siqing ZHANG, Xiaoquan LIU. Vision-guided laser range-gated 3D imaging[J]. Infrared and Laser Engineering, 2024, 53(7): 20240104
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Received: Mar. 6, 2024
Accepted: --
Published Online: Aug. 9, 2024
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