DenseFormer: Learning Dense Depth Map from Sparse Depth and Image via Conditional Diffusion Model

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the depth map after obtaining an initial dense depth. In this paper, we propose DenseFormer, a novel method that integrates the diffusion model into the depth completion task. By incorporating the denoising mechanism of the diffusion model, DenseFormer generates the dense depth map by progressively refining an initial random depth distribution through multiple iterations. We propose a feature extraction module that leverages a feature pyramid structure, along with multi-layer deformable attention, to effectively extract and integrate features from sparse depth maps and RGB images, which serve as the guiding condition for the diffusion process. Additionally, this paper presents a depth refinement module that applies multi-step iterative refinement across various ranges to the dense depth results generated by the diffusion process. The module utilizes image features enriched with multi-scale information and sparse depth input to further enhance the accuracy of the predicted depth map. Extensive experiments on the KITTI outdoor scene dataset demonstrate that DenseFormer outperforms classical depth completion methods.

V2X-DGPE: Addressing Domain Gaps and Pose Errors for Robust Collaborative 3D Object Detection

In V2X collaborative perception, the domain gaps between heterogeneous nodes pose a significant challenge for effective information fusion. Pose errors arising from latency and GPS localization noise further exacerbate the issue by leading to feature misalignment. To overcome these challenges, we propose V2X-DGPE, a high-accuracy and robust V2X feature-level collaborative perception framework. V2X-DGPE employs a Knowledge Distillation Framework and a Feature Compensation Module to learn domain-invariant representations from multi-source data, effectively reducing the feature distribution gap between vehicles and roadside infrastructure. Historical information is utilized to provide the model with a more comprehensive understanding of the current scene. Furthermore, a Collaborative Fusion Module leverages a heterogeneous self-attention mechanism to extract and integrate heterogeneous representations from vehicles and infrastructure. To address pose errors, V2X-DGPE introduces a deformable attention mechanism, enabling the model to adaptively focus on critical parts of the input features by dynamically offsetting sampling points. Extensive experiments on the real-world DAIR-V2X dataset demonstrate that the proposed method outperforms existing approaches, achieving state-of-the-art detection performance. The code is available at https://github.com/wangsch10/V2X-DGPE.