Solid-state lidar cameras produce 3D images, useful in applications such as robotics and self-driving vehicles. However, range is limited by the lidar laser power and features such as perpendicular surfaces and dark objects pose difficulties. We propose the use of intensity images, inherent in lidar camera data from the total laser and ambient light collected in each pixel, to extract additional depth information and boost ranging performance. Using a pair of off-the-shelf lidar cameras and a conventional stereo depth algorithm to process the intensity images, we demonstrate increase of the native lidar maximum depth range by 2× in an indoor environment and almost 10× outdoors. Depth information is also extracted from features in the environment such as dark objects, floors and ceiling which are otherwise not detected by the lidar sensor. While the specific technique presented is useful in applications involving multiple lidar cameras, the principle of extracting depth data from lidar camera intensity images could also be extended to standalone lidar cameras using monocular depth techniques.

In recent years, several deep learning-based architectures have been proposed to compress Light Field (LF) images as pseudo video sequences. However, most of these techniques employ conventional compression-focused networks. In this paper, we introduce a version of a previously designed deep learning video compression network, adapted and optimized specifically for LF image compression. We enhance this network by incorporating an in-loop filtering block, along with additional adjustments and fine-tuning. By treating LF images as pseudo video sequences and deploying our adapted network, we manage to address challenges presented by the unique features of LF images, such as high resolution and large data sizes. Our method compresses these images competently, preserving their quality and unique characteristics. With the thorough fine-tuning and inclusion of the in-loop filtering network, our approach shows improved performance in terms of Peak Signal-to-Noise Ratio (PSNR) and Mean Structural Similarity Index Measure (MSSIM) when compared to other existing techniques. Our method provides a feasible path for LF image compression and may contribute to the emergence of new applications and advancements in this field.