Fig. 1
From: RGB-conditioned frequency domain refinement for sparse-to-dense depth completion
The architecture of the proposed network. The depth branch (blue) and RGB branch (orange) operate in parallel, with lighter shades indicating encoder stages and darker shades indicating decoder stages. The pre-filled sparse depth undergoes multi-scale encoding, while RGB features are extracted simultaneously. Guided Refinement Modules (GRMs) are placed at decoder scales to adaptively refine depth features using RGB information.
