论文标题
超越视野视野：用回声和视觉感知3D环境
Beyond Visual Field of View: Perceiving 3D Environment with Echoes and Vision
论文作者
论文摘要
本文着重于使用回声和RGB图像感知和导航3D环境。特别是，我们通过将RGB图像与回声融合，从多个方向收到。与以前的作品不同，我们超越了RGB的视野，并估算了大量环境的密集深度图。我们表明，回声提供了有关补充RGB图像的3D结构的整体和廉价信息。此外，我们研究了如何在机器人导航中使用回声和广泛的视野深度图。我们使用两组具有挑战性的现实3D环境：副本和MatterPort3D比较了所提出的方法与最近的基线。实施和预培训模型将公开可用。
This paper focuses on perceiving and navigating 3D environments using echoes and RGB image. In particular, we perform depth estimation by fusing RGB image with echoes, received from multiple orientations. Unlike previous works, we go beyond the field of view of the RGB and estimate dense depth maps for substantially larger parts of the environment. We show that the echoes provide holistic and in-expensive information about the 3D structures complementing the RGB image. Moreover, we study how echoes and the wide field-of-view depth maps can be utilised in robot navigation. We compare the proposed methods against recent baselines using two sets of challenging realistic 3D environments: Replica and Matterport3D. The implementation and pre-trained models will be made publicly available.
