Depth as Points: Center Point-based Depth Estimation

The perception of vehicles and pedestrians in urban scenarios is crucial for autonomous driving. This process typically involves complicated data collection, imposes high computational and hardware demands. To address these limitations, we first develop a highly efficient method for generating virtual datasets, which enables the creation of task- and scenario-specific datasets in a short time. Leveraging this method, we construct the virtual depth estimation dataset VirDepth, a large-scale, multi-task autonomous driving dataset. Subsequently, we propose CenterDepth, a lightweight architecture for monocular depth estimation that ensures high operational efficiency and exhibits superior performance in depth estimation tasks with highly imbalanced height-scale distributions. CenterDepth integrates global semantic information through the innovative Center FC-CRFs algorithm, aggregates multi-scale features based on object key points, and enables detection-based depth estimation of targets. Experiments demonstrate that our proposed method achieves superior performance in terms of both computational speed and prediction accuracy.

Matrix Completion with Noise via Leveraged Sampling

Many matrix completion methods assume that the data follows the uniform distribution. To address the limitation of this assumption, Chen et al. \cite{Chen20152999} propose to recover the matrix where the data follows the specific biased distribution. Unfortunately, in most real-world applications, the recovery of a data matrix appears to be incomplete, and perhaps even corrupted information. This paper considers the recovery of a low-rank matrix, where some observed entries are sampled in a \emph{biased distribution} suitably dependent on \emph{leverage scores} of a matrix, and some observed entries are uniformly corrupted. Our theoretical findings show that we can provably recover an unknown $n\times n$ matrix of rank $r$ from just about $O(nr\log^2 n)$ entries even when the few observed entries are corrupted with a small amount of noisy information. Empirical studies verify our theoretical results.