Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: SemAttNet: Towards Attention-based Semantic Aware Guided Depth
  Completion   Depth completion involves recovering a dense depth map from a sparse map and
an RGB image. Recent approaches focus on utilizing color images as guidance
images to recover depth at invalid pixels. However, color images alone are not
enough to provide the necessary semantic understanding of the scene.
Consequently, the depth completion task suffers from sudden illumination
changes in RGB images (e.g., shadows). In this paper, we propose a novel
three-branch backbone comprising color-guided, semantic-guided, and
depth-guided branches. Specifically, the color-guided branch takes a sparse
depth map and RGB image as an input and generates color depth which includes
color cues (e.g., object boundaries) of the scene. The predicted dense depth
map of color-guided branch along-with semantic image and sparse depth map is
passed as input to semantic-guided branch for estimating semantic depth. The
depth-guided branch takes sparse, color, and semantic depths to generate the
dense depth map. The color depth, semantic depth, and guided depth are
adaptively fused to produce the output of our proposed three-branch backbone.
In addition, we also propose to apply semantic-aware multi-modal
attention-based fusion block (SAMMAFB) to fuse features between all three
branches. We further use CSPN++ with Atrous convolutions to refine the dense
depth map produced by our three-branch backbone. Extensive experiments show
that our model achieves state-of-the-art performance in the KITTI depth
completion benchmark at the time of submission.

11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
33
The categories of this paper are: plasm-ph
22
The categories of this paper are: chao-dyn
2
The categories of this paper are: math
17
The categories of this paper are: q-fin
14
The categories of this paper are: math-ph
12
The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
24
The categories of this paper are: dg-ga
30
The categories of this paper are: q-alg
28
The categories of this paper are: alg-geom
15
The categories of this paper are: nucl-ex