Stereo-LiDAR Fusion by Semi-Global Matching With Discrete Disparity-Matching Cost and Semidensification

Yasuhiro Yao, Ryoichi Ishikawa, Takeshi Oishi

We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniqu…