Gated Stereo: Joint Depth Estimation from Gated and Wide-Baseline Active
  Stereo Cues
Stefanie Walz Mario Bijelic Andrea Ramazzina Amanpreet Walia Fahim Mannan Felix Heide
We propose Gated Stereo, a high-resolution and long-range depth estimation
technique that operates on active gated stereo images. Using active and high
dynamic range passive captures, Gated Stereo exploits multi-view cues alongside
time-of-flight intensity cues from active gating. To this end, we propose a
depth estimation method with a monocular and stereo depth prediction branch
which are combined in a final fusion stage. Each block is supervised through a
combination of supervised and gated self-supervision losses. To facilitate
training and validation, we acquire a long-range synchronized gated stereo
dataset for automotive scenarios. We find that the method achieves an
improvement of more than 50 % MAE compared to the next best RGB stereo method,
and 74 % MAE to existing monocular gated methods for distances up to 160 m. Our
code,models and datasets are available here.