LRRU: Long-short Range Recurrent Updating Networks for Depth Completion

Yufei Wang, Bo Li, Ge Zhang, Qi Liu, Tao Gao, Yuchao Dai

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

36 Scopus citations

Abstract

Existing deep learning-based depth completion methods generally employ massive stacked layers to predict the dense depth map from sparse input data. Although such approaches greatly advance this task, their accompanied huge computational complexity hinders their practical applications. To accomplish depth completion more efficiently, we propose a novel lightweight deep network framework, the Long-short Range Recurrent Updating (LRRU) network. Without learning complex feature representations, LRRU first roughly fills the sparse input to obtain an initial dense depth map, and then iteratively updates it through learned spatially-variant kernels. Our iterative update process is content-adaptive and highly flexible, where the kernel weights are learned by jointly considering the guidance RGB images and the depth map to be updated, and large-to-small kernel scopes are dynamically adjusted to capture long-to-short range dependencies. Our initial depth map has coarse but complete scene depth information, which helps relieve the burden of directly regressing the dense depth from sparse ones, while our proposed method can effectively refine it to an accurate depth map with less learnable parameters and inference time. Experimental results demonstrate that our proposed LRRU variants achieve state-of-the-art performance across different parameter regimes. In particular, the LRRU-Base model outperforms competing approaches on the NYUv2 dataset, and ranks 1st on the KITTI depth completion benchmark at the time of submission. Project page: https://npucvr.github.io/LRRU/.

Original languageEnglish
Title of host publicationProceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9388-9398
Number of pages11
ISBN (Electronic)9798350307184
DOIs
StatePublished - 2023
Event2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 - Paris, France
Duration: 2 Oct 20236 Oct 2023

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
ISSN (Print)1550-5499

Conference

Conference2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
Country/TerritoryFrance
CityParis
Period2/10/236/10/23

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