{"id":"https://openalex.org/W4285102234","doi":"https://doi.org/10.1109/icra46639.2022.9811840","title":"SEHLNet: Separate Estimation of High- and Low-Frequency components for Depth Completion","display_name":"SEHLNet: Separate Estimation of High- and Low-Frequency components for Depth Completion","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102234","doi":"https://doi.org/10.1109/icra46639.2022.9811840"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811840","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100409517","display_name":"Qiang Liu","orcid":"https://orcid.org/0000-0003-0963-5144"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Liu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063331813","display_name":"Haosong Yue","orcid":"https://orcid.org/0000-0001-7043-438X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haosong Yue","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075764938","display_name":"Zhanggang Lyu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanggang Lyu","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute,Beijing,China,100854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute,Beijing,China,100854","institution_ids":["https://openalex.org/I4210166468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392006","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-5477-1017"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["University of Oxford,Department of Computer Science,Oxford,U.K,OX1 3QD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Computer Science,Oxford,U.K,OX1 3QD","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376861","display_name":"Zhong Liu","orcid":"https://orcid.org/0000-0003-3242-5997"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Liu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2359,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56619578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"668","last_page":"674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6491117477416992},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5907340049743652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5757168531417847},{"id":"https://openalex.org/keywords/sparse-approximation","display_name":"Sparse approximation","score":0.5525663495063782},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.49797654151916504},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4690046012401581},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.44680583477020264},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.43954622745513916},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4275566041469574},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4243074059486389},{"id":"https://openalex.org/keywords/sparse-matrix","display_name":"Sparse matrix","score":0.41978198289871216},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41455209255218506},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3966963589191437},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3260413110256195},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2935134172439575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20812109112739563},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10850206017494202},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10505476593971252}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6491117477416992},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5907340049743652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5757168531417847},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.5525663495063782},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.49797654151916504},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4690046012401581},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.44680583477020264},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.43954622745513916},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4275566041469574},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4243074059486389},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.41978198289871216},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41455209255218506},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3966963589191437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3260413110256195},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2935134172439575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20812109112739563},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10850206017494202},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10505476593971252},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811840","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2850184133","display_name":null,"funder_award_id":"YWF-21-BJ-J-923","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G841421435","display_name":null,"funder_award_id":"61603020,61620106012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1662382123","https://openalex.org/W1901129140","https://openalex.org/W2049191044","https://openalex.org/W2340897893","https://openalex.org/W2512689497","https://openalex.org/W2554243884","https://openalex.org/W2594506320","https://openalex.org/W2626744851","https://openalex.org/W2807828983","https://openalex.org/W2886851716","https://openalex.org/W2899479761","https://openalex.org/W2945848398","https://openalex.org/W2956121407","https://openalex.org/W2959581809","https://openalex.org/W2963316641","https://openalex.org/W2963417597","https://openalex.org/W2963867516","https://openalex.org/W2964145825","https://openalex.org/W2964321699","https://openalex.org/W2964326562","https://openalex.org/W2969202876","https://openalex.org/W2980467688","https://openalex.org/W2981199548","https://openalex.org/W2992464978","https://openalex.org/W2998031326","https://openalex.org/W2998293366","https://openalex.org/W3018743059","https://openalex.org/W3034726754","https://openalex.org/W3035510038","https://openalex.org/W3080631149","https://openalex.org/W3091564232","https://openalex.org/W3103830518","https://openalex.org/W3109128945","https://openalex.org/W3110653837","https://openalex.org/W3111986596","https://openalex.org/W3165495321","https://openalex.org/W3177349073","https://openalex.org/W3206335707","https://openalex.org/W4295312788","https://openalex.org/W4297733535","https://openalex.org/W6637178625","https://openalex.org/W6639824700","https://openalex.org/W6713582119","https://openalex.org/W6720006811","https://openalex.org/W6739467303","https://openalex.org/W6749630058","https://openalex.org/W6754164750","https://openalex.org/W6754969897","https://openalex.org/W6755789610","https://openalex.org/W6766978945","https://openalex.org/W6771572032","https://openalex.org/W6776323327","https://openalex.org/W6781065823","https://openalex.org/W6785748494","https://openalex.org/W6787666302"],"related_works":["https://openalex.org/W2091883426","https://openalex.org/W3173235360","https://openalex.org/W2174948646","https://openalex.org/W2024017047","https://openalex.org/W4318256793","https://openalex.org/W2051410394","https://openalex.org/W2594370889","https://openalex.org/W2390720471","https://openalex.org/W1600789676","https://openalex.org/W2134327945"],"abstract_inverted_index":{"Depth":[0],"completion":[1],"refers":[2],"to":[3,26,131,148],"inferring":[4],"the":[5,37,49,79,91,96,119,124,133,155,171],"dense":[6,41,75],"depth":[7,12,42,46,76,98,102,157],"map":[8,13],"from":[9,100,154],"a":[10,44,65,83,87,115],"sparse":[11,45,101,156],"with":[14],"or":[15],"without":[16],"corre-sponding":[17],"color":[18,159],"image.":[19,160],"Numerous":[20],"neural":[21],"networks":[22],"have":[23],"been":[24],"proposed":[25],"accomplish":[27],"this":[28,62,140],"task.":[29],"However,":[30],"insufficient":[31],"uti-lization":[32],"of":[33,51,74,82,135],"heteromorphic":[34],"data":[35,55,136],"and":[36,57,71,86,158,174],"fact":[38],"that":[39,68,164],"predicted":[40],"prefers":[43],"enormously":[47],"damage":[48],"performance":[50,169],"approaches.":[52,185],"To":[53],"reduce":[54],"preference":[56],"fully":[58],"utilize":[59],"two":[60],"modalities,":[61],"paper":[63],"proposes":[64],"novel":[66],"network":[67],"predicts":[69],"high-":[70],"low-frequency":[72,97],"components":[73],"separately.":[77],"Specifically,":[78],"framework":[80],"consists":[81],"Low-Frequency(LF)":[84],"branch":[85],"High-Frequency(HF)":[88],"branch.":[89],"In":[90,118],"LF":[92],"branch,":[93,121,141],"we":[94,122,142],"recover":[95],"component":[99],"through":[103],"an":[104,144],"Adaptive":[105],"Graph-Generate":[106],"Graph":[107],"Attention":[108],"Network,":[109],"which":[110],"can":[111],"be":[112],"seen":[113],"as":[114,129],"low-pass":[116],"filter.":[117],"HF":[120],"model":[123],"high-frequency":[125],"component,":[126],"e.g.":[127],"boundaries,":[128],"residuals":[130],"mitigate":[132],"impact":[134],"preferences.":[137],"Moreover,":[138],"in":[139,177],"propose":[143],"Attention-based":[145],"Self-Fusion":[146],"mechanism":[147],"efficiently":[149],"fuse":[150],"multi-scale":[151],"features":[152],"extracted":[153],"Extensive":[161],"experiments":[162],"demonstrate":[163],"our":[165],"approach":[166],"achieves":[167],"state-of-the-art":[168],"on":[170],"KITTI":[172],"benchmark":[173],"ranks":[175],"1st":[176],"root":[178],"mean":[179],"squared":[180],"error":[181],"among":[182],"other":[183],"published":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}