![](bg8.png)
coder network to compensate the missing texture in-
formation. To tackled the lack of large trainable
dataset in this field and to evaluate our HFPNet quan-
titatively, we presented a synthetic CSN dataset and
a real-world NightCampus dataset. We demonstrated
that HFPNet, which is trained on synthetic dataset,
yielding top performances on real-world scenes.
ACKNOWLEDGEMENTS
This work was supported in part by the NSFC under
Grants 62073215, 61873166, and 61673275.
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