  This paper focuses on perceiving and navigating 3D environments using echoes
and RGB image. In particular, we perform depth estimation by fusing RGB image
with echoes, received from multiple orientations. Unlike previous works, we go
beyond the field of view of the RGB and estimate dense depth maps for
substantially larger parts of the environment. We show that the echoes provide
holistic and in-expensive information about the 3D structures complementing the
RGB image. Moreover, we study how echoes and the wide field-of-view depth maps
can be utilised in robot navigation. We compare the proposed methods against
recent baselines using two sets of challenging realistic 3D environments:
Replica and Matterport3D. The implementation and pre-trained models will be
made publicly available.
