# MobiFuse: A High-Precision On-device Depth Perception System with Multi-Data Fusion

arXiv: https://arxiv.org/abs/2412.13848 · HTML: https://mlsanity.com/paper/2412.13848/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 46 references that are in the map.
- First posted on arXiv 18 Dec 2024.

## Builds on (most cited first, 15 of 15)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [UnitBox: An Advanced Object Detection Network](https://mlsanity.com/paper/1608.01471/) (2016)
- [CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection](https://mlsanity.com/paper/2009.00784/) (2020)
- [Density-aware Chamfer Distance as a Comprehensive Metric for Point Cloud Completion](https://mlsanity.com/paper/2111.12702/) (2021)
- [Learning Guided Convolutional Network for Depth Completion](https://mlsanity.com/paper/1908.01238/) (2019)
- [Deep Depth Completion of a Single RGB-D Image](https://mlsanity.com/paper/1803.09326/) (2018)
- [MobileStereoNet: Towards Lightweight Deep Networks for Stereo Matching](https://mlsanity.com/paper/2108.09770/) (2021)
- [Anytime Stereo Image Depth Estimation on Mobile Devices](https://mlsanity.com/paper/1810.11408/) (2018)
- [Adaptive Surface Normal Constraint for Depth Estimation](https://mlsanity.com/paper/2103.15483/) (2021)
- [Indoor Depth Completion with Boundary Consistency and Self-Attention](https://mlsanity.com/paper/1908.08344/) (2019)
- [InfiniTAM v3: A Framework for Large-Scale 3D Reconstruction with Loop Closure](https://mlsanity.com/paper/1708.00783/) (2017)
- [Depth-aware Blending of Smoothed Images for Bokeh Effect Generation](https://mlsanity.com/paper/2005.14214/) (2020)
- [Mask-ToF: Learning Microlens Masks for Flying Pixel Correction in Time-of-Flight Imaging](https://mlsanity.com/paper/2103.16693/) (2021)
- [Joint Depth and Normal Estimation from Real-world Time-of-flight Raw Data](https://mlsanity.com/paper/2108.03649/) (2021)

## Abstract (arXiv)

We present MobiFuse, a high-precision depth perception system on mobile devices that combines dual RGB and Time-of-Flight (ToF) cameras. To achieve this, we leverage physical principles from various environmental factors to propose the Depth Error Indication (DEI) modality, characterizing the depth error of ToF and stereo-matching. Furthermore, we employ a progressive fusion strategy, merging geometric features from ToF and stereo depth maps with depth error features from the DEI modality to create precise depth maps. Additionally, we create a new ToF-Stereo depth dataset, RealToF, to train and validate our model. Our experiments demonstrate that MobiFuse excels over baselines by significantly reducing depth measurement errors by up to 77.7%. It also showcases strong generalization across diverse datasets and proves effectiveness in two downstream tasks: 3D reconstruction and 3D segmentation. The demo video of MobiFuse in real-life scenarios is available at the de-identified YouTube link(https://youtu.be/jy-Sp7T1LVs).