Lightweight Self-Supervised Depth Estimation with few-beams LiDAR Data

Rizhao Fan (University of Bologna),* Fabio Tosi (University of Bologna), Matteo Poggi (University of Bologna), Stefano Mattoccia (University of Bologna)
The 34th British Machine Vision Conference


This paper proposes a lightweight yet effective self-supervised depth completion network trained on monocular videos and sparse raw LiDAR measurements only. Specifically, we utilize a multi-stage network architecture, which depends on cheap CNN layers. We introduce a novel guided sparse convolution operator combining sparse and dense data to extract depth features. To mitigate the impact of outliers commonly present in the sparse raw LiDAR data, we adopt a distance-dependent outlier mask that incorporates an elastic threshold mechanism to selectively discard such points. Our experimental results on the KITTI dataset show the favorable trade-off between accuracy and efficiency achieved by our model, reaching state-of-the-art performance on self-supervised depth estimation from few-beams LiDAR (4-beams), depth completion (64-beams) and a few hundred depth points, using a fraction of the parameters. Our code will be available on


author    = {Rizhao Fan and Fabio Tosi and Matteo Poggi and Stefano Mattoccia},
title     = {Lightweight Self-Supervised Depth Estimation with few-beams LiDAR Data},
booktitle = {34th British Machine Vision Conference 2023, {BMVC} 2023, Aberdeen, UK, November 20-24, 2023},
publisher = {BMVA},
year      = {2023},
url       = {}

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