Tri-Perspective View Decomposition for Geometry Aware Depth Completion and Super-Resolution.

Abstract

Depth completion and super-resolution are crucial tasks for comprehensive RGB-D scene understanding, as they involve reconstructing the precise 3D geometry of a scene from sparse or low-resolution depth measurements. However, most existing methods either rely solely on 2D depth representations or directly incorporate raw 3D point clouds for compensation, which are still insufficient to capture the fine-grained 3D geometry of the scene. In this paper, we introduce Tri-Perspective View Decomposition (TPVD) frameworks that can explicitly model 3D geometry. To this end, (1) TPVD ingeniously decomposes the original 3D point cloud into three 2D views, one of which corresponds to the sparse or low-resolution depth input. (2) For sufficient geometric interaction, TPV Fusion is designed to update the 2D TPV features through recurrent 2D-3D-2D aggregation. (3) By adaptively searching for TPV affinitive neighbors, two additional refinement heads are developed for these two tasks to further improve the geometric consistency. Meanwhile, we build novel datasets named TOFDC for depth completion and TOFDSR for depth super-resolution. Both datasets are acquired using time-of-flight (TOF) sensors and color cameras on smartphones. Extensive experiments on TOFDC, KITTI, NYUv2, SUN RGBD, VKITTI, TOFDSR, RGB-D-D, Lu, and Middlebury datasets indicate that our TPVD outperforms previous depth completion and super-resolution methods, reaching the state of the art.