We present an imaging framework which converts three images from a gated camera into high-resolution depth maps with depth accuracy comparable to pulsed lidar measurements. Existing scanning lidar systems achieve low spatial resolution at large ranges due to mechanicallylimited angular sampling rates, restricting scene understanding tasks to close-range clusters with dense sampling. Moreover, today's pulsed lidar scanners suffer from high cost, power consumption, large form-factors, and they fail in the presence of strong backscatter. We depart from point scanning and demonstrate that it is possible to turn a low-cost CMOS gated imager into a dense depth camera with at least 80 m range -by learning depth from three gated images. The proposed architecture exploits semantic context across gated slices, and is trained on a synthetic discriminator loss without the need of dense depth labels. The proposed replacement for scanning lidar systems is real-time, handles back-scatter and provides dense depth at long ranges. We validate our approach in simulation and on real-world data acquired over 4,000 km driving in northern Europe. Data and code are available at

Real-world, imaging systems acquire measurements that are degraded by noise, optical aberrations, and other imperfections that make image processing for human viewing and higher-level perception tasks challenging. Conventional cameras address this problem by compartmentalizing imaging from high-level task processing. As such, conventional imaging involves processing the RAW sensor measurements in a sequential pipeline of steps, such as demosaicking, denoising, deblurring, tone-mapping, and compression. This pipeline is optimized to obtain a visually pleasing image. High-level processing, however, involves steps such as feature extraction, classification, tracking, and fusion. While this silo-ed design approach allows for efficient development, it also dictates compartmentalized performance metrics without knowledge of the higher-level task of the camera system. For example, today’s demosaicking and denoising algorithms are designed using perceptual image quality metrics but not with domain-specific tasks such as object detection in mind. We propose an end-to-end differentiable architecture that jointly performs demosaicking, denoising, deblurring, tone-mapping, and classification (see Figure 1). The architecture does not require any intermediate losses based on perceived image quality and learns processing pipelines whose outputs differ from those of existing ISPs optimized for perceptual quality, preserving fine detail at the cost of increased noise and artifacts. We show that state-of-the-art ISPs discard information that is essential in corner cases, such as extremely low-light conditions, where conventional imaging and perception stacks fail. We demonstrate on captured and simulated data that our model substantially improves perception in low light and other challenging conditions, which is imperative for real-world applications such as autonomous driving, robotics, and surveillance. Finally, we found that the proposed model also achieves state-of-the-art accuracy when optimized for image reconstruction in low-light conditions, validating the architecture itself as a potentially useful drop-in network for reconstruction and analysis tasks beyond the applications demonstrated in this work. Our proposed models, datasets, and calibration data are available at https://github.com/princeton-computational-imaging/DirtyPixels .

Symbol detection techniques in online handwritten graphics (e.g. diagrams and mathematical expressions) consist of methods specifically designed for a single graphic type. In this work, we evaluate the Faster R-CNN object detection algorithm as a general method for detection of symbols in handwritten graphics. We evaluate different configurations of the Faster R-CNN method, and point out issues relative to the handwritten nature of the data. Considering the online recognition context, we evaluate efficiency and accuracy trade-offs of using Deep Neural Networks of different complexities as feature extractors. We evaluate the method on publicly available flowchart and mathematical expression (CROHME-2016) datasets. Results show that Faster R-CNN can be effectively used on both datasets, enabling the possibility of developing general methods for symbol detection, and furthermore, general graphic understanding methods that could be built on top of the algorithm.

We propose a new framework for the recognition of online handwritten graphics. Three main features of the framework are its ability to treat symbol and structural level information in an integrated way, its flexibility with respect to different families of graphics, and means to control the tradeoff between recognition effectiveness and computational cost. We model a graphic as a labeled graph generated from a graph grammar. Non-terminal vertices represent subcomponents, terminal vertices represent symbols, and edges represent relations between subcomponents or symbols. We then model the recognition problem as a graph parsing problem: given an input stroke set, we search for a parse tree that represents the best interpretation of the input. Our graph parsing algorithm generates multiple interpretations (consistent with the grammar) and then we extract an optimal interpretation according to a cost function that takes into consideration the likelihood scores of symbols and structures. The parsing algorithm consists in recursively partitioning the stroke set according to structures defined in the grammar and it does not impose constraints present in some previous works (e.g. stroke ordering). By avoiding such constraints and thanks to the powerful representativeness of graphs, our approach can be adapted to the recognition of different graphic notations. We show applications to the recognition of mathematical expressions and flowcharts. Experimentation shows that our method obtains state-of-the-art accuracy in both applications.

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