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Privacy-Preserving Semantic Segmentation from High-Resolution Depth and Ultra-Low-Resolution RGB

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

As mobile robots become increasingly integrated into everyday environments, privacy risks arising from onboard cameras have become a growing concern. Ultra-low-resolution (ULR) RGB can mitigate visual privacy exposure at the source, but ULR appearance alone substantially limits semantic and spatial understanding. We therefore introduce a privacy-preserving asymmetric sensing setting that combines high-resolution (HR) depth with ULR RGB, preserving dense geometry while restricting fine-grained visual information. To address the severe information imbalance between HR depth and ULR RGB, we propo

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