Use Voronoi diagram/nearest neighbor to complete a sparse depth image. Used OpenGL to achieve better performance. This can be used as the most simple basline to compare with. We use KITTI dataset.
Original sparse depth image
Original RGB
NN depth completion(No use of RGB)
Confidence map
Annotated ground truth
| Method | MAE | RMSE |
|---|---|---|
| NN completion | 434 | 2225 |
| NN + FCN refined | -- | 1018 |