Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon time-of-flight, as in pulsed LiDAR sensors, gated imagers encode depth in the relative intensity of a handful of gated slices, captured at megapixel resolution. Although existing methods have shown that it is possible to decode high-resolution depth from such measurements, these methods require synchronized and calibrated LiDAR to supervise the gated depth decoder -- prohibiting fast adoption across geographies, training on large unpaired datasets, and exploring alternative applications outside of automotive use cases. In this work, we fill this gap and propose an entirely self-supervised depth estimation method that uses gated intensity profiles and temporal consistency as a training signal. The proposed model is trained end-to-end from gated video sequences, does not require LiDAR or RGB data, and learns to estimate absolute depth values. We take gated slices as input and disentangle the estimation of the scene albedo, depth, and ambient light, which are then used to learn to reconstruct the input slices through a cyclic loss. We rely on temporal consistency between a given frame and neighboring gated slices to estimate depth in regions with shadows and reflections. We experimentally validate that the proposed approach outperforms existing supervised and self-supervised depth estimation methods based on monocular RGB and stereo images, as well as supervised methods based on gated images.

翻译： Ged ged 相机作为高分辨率 3D 深度扫描LIDAR传感器的替代方案,具有前景。 使用高分辨率 3D 深度扫描LIDAR传感器的替代方法, 高分辨率 3D 深度, 高分辨率 强于雾、 雪和雨的反射。 而不是像脉冲 LiDAR 传感器那样, 连续扫描场景, 直接通过光子飞行时间( 脉冲 LIDAR 传感器) 记录深度, 闭门成像仪显示, 以巨型像素解解析方式显示, 虽然现有方法显示, 可以解码高分辨率从这样的测量中解码高分辨率, 但这些方法需要同步和校准的LIDAR 以监督闭门深度解析器 -- -- 禁止快速在地理图中采用, 培训大型未穿孔数据集, 探索汽车使用案例以外的其他应用。 在这项工作中, 我们填补了这一空白的深度, 提出一个完全自我监督的深度的深度估算方法, 使用一个完全自我测深度的深度的深度的深度,, 以我们现有的直径的直径的直径直径直径直径直径直到平面的直到平面的直径直径直方 。