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Presentation2019 (Supporting material (Image of sensor pods., Image of the…
Presentation2019
Supporting material
Image of sensor pods.
Image of the layout of PSMNet
Image of the layout of CSN
Image of PSMNet plus uncertainty.
Image of the pillar / beam with grids.
Slides
List of uncertainty/confidence measures.
:check: Math of uncertainty for deep learning. (Only the aleatoric uncertainties)
Illusion video.
Configuration of DNNs
Deep Learning with Uncertainty
Record and plot the sigma values
:red_cross:May use larger learing rate. Training exploded with lr=0.01
:checkered_flag:The loss may become negative. Is this the desired behavior? Kind of.
:checkered_flag:Find out the unit/value range of sigma. Seems to be the unit of pixel
Compare with different methods
Various methods
OpenCV SGM for single pair of images.
:check:SPS-Stereo
:warning:Determine the image size for different methods!
:checkered_flag:512x1024 for now
:check:CSN
:check:PSMNet
PSMNet with uncertainty
Need more better way to visualize.
:check:Camera matrix and Q matrix. How to read these data into different methods.
Prepare the data
Open available / benchmark data
Kitti
Findout the statistics of the data
Middleburry
Shimizu data
201812 bridge scan
LIDAR
:check:Stereo
NSH wall scan
LIDAR
Stereo
201810 Shinizu beam
LIDAR
:check:Stereo
Training
Training scripts. The filenames are not good.
:check:A table to record different trainnings.
SGM
:check:Make it work with downsampled images.
With LIDAR
Visualize the LIDAR point cloud.
Work with downsampled images?
:check:Make sure the image size does not affacts LIDAR points gathering.
Plane / Patch matching methods
SPS-Stereo
:check:Add search range for individual pixel
Output point cloud in PLY format.
:check:Read camera matrix.
:check:Limit minimum disparity value. (Limit lower bound may not be a good idea if we know we wil see objectives at long distance.)
Deep Learning methods
End-to-end
Without 3D cost volume
CSN
With 3D cost volume
PSMNet
Matching cost
Bilateral window matcher
Only have the results of matching in single line.
Learn confidence? :warning:Following ups of the discussion with Basti.