Depth Prediction Improvement for Near-Field iToF Lidar in Low-Speed Motion State

Current deep learning-based phase unwrapping techniques for iToF Lidar sensors focus mainly on static indoor scenarios, ignoring motion blur in dynamic outdoor scenarios. Our paper proposes a two-stage semi-supervised method to unwrap ambiguous depth maps affected by motion blur in dynamic outdoor scenes. The method trains on static datasets to learn unwrapped depth map prediction and then adapts to dynamic datasets using continuous learning methods. Additionally, blind deconvolution is introduced to mitigate the blur. The combined use of these methods produces high-quality depth maps with reduced blur noise.