Reliability-Guided Depth Fusion for Glare-Resilient Navigation Costmaps
Summary
arXiv:2606.03421v1 Announce Type: new Abstract: Specular glare on reflective floors, glass boundaries, and glossy indoor surfaces frequently corrupts active-stereo RGB-D depth measurements, producing holes and spikes that accumulate as persistent phantom obstacles in occupancy-grid costmaps. This paper presents a glare-resilient costmap construction method based on explicit depth-reliability modeling. A lightweight Depth Reliability Map network (DRM-Net) predicts per-pixel measurement trustworthiness under specular interference, and a reliability-guided weighted-and-gated fusion (RGF) mechanism modulates occupancy updates before corrupted measurements are accumulated into the map.
Why It Matters
This Energy development affects battery, grid and energy-security dynamics across Asia. For Asia, it is a signal worth tracking: it shapes who supplies, who scales, and who sets the standard over the next five years.
Key Facts
- SectorEnergy
- Market—
- ImpactLow (42/100)
- SignalResearch