Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for the sake of better safety. To that end, we propose a novel three-camera system that utilizes small field of view cameras. Our system, along with our novel algorithm for computing metric depth, does not require full pre-calibration and can output dense depth maps with practically acceptable accuracy for scenes and objects at long distances not well covered by most commercial LiDARs.

中文翻译：

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超出 LiDAR 范围的深度感测

深度感应是自动驾驶技术的关键组成部分，但当今基于 LiDAR 或立体相机的解决方案的范围有限。为了更好的安全性，我们寻求增加自动驾驶汽车深度感知模块的最大范围。为此，我们提出了一种利用小视野相机的新型三相机系统。我们的系统以及我们用于计算度量深度的新颖算法不需要完全预校准，并且可以为大多数商业 LiDAR 无法很好覆盖的远距离场景和物体输出具有实际可接受的精度的密集深度图。