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Lidar is a vital sensor for estimating the depth of a scene. Typical spinninglidars emit pulses arranged in several horizontal lines and the monetary costof the sensor increases with the number of these lines. In this work, wepresent the new problem of optimizing the positioning of lidar lines to findthe most effective configuration for the depth completion task. We propose asolution to reduce the number of lines while retaining the up-to-the-markquality of depth completion. Our method consists of two components, (1) lineselection based on the marginal contribution of a line computed via the Shapleyvalue and (2) incorporating line position spread to take into account its needto arrive at image-wide depth completion. Spatially-aware Shapley values (SaS)succeed in selecting line subsets that yield a depth accuracy comparable to thefull lidar input while using just half of the lines.

Lidar Line Selection with Spatially-Aware Shapley Value for Cost-Efficient Depth Completion