Patent attributes
In one embodiment, a method or system generates a high resolution 3-D point cloud to operate an autonomous driving vehicle (ADV) from a low resolution 3-D point cloud and camera-captured image(s). The system receives a first image captured by a camera for a driving environment. The system receives a second image representing a first depth map of a first point cloud corresponding to the driving environment. The system downsamples the second image by a predetermined scale factor until a resolution of the second image reaches a predetermined threshold. The system generates a second depth map by applying a convolutional neural network (CNN) model to the first image and the downsampled second image, the second depth map having a higher resolution than the first depth map such that the second depth map represents a second point cloud perceiving the driving environment surrounding the ADV.