  Depth sensing is a critical component of autonomous driving technologies, but
today's LiDAR- or stereo camera-based solutions have limited range. We seek to
increase the maximum range of self-driving vehicles' depth perception modules
for the sake of better safety. To that end, we propose a novel three-camera
system that utilizes small field of view cameras. Our system, along with our
novel algorithm for computing metric depth, does not require full
pre-calibration and can output dense depth maps with practically acceptable
accuracy for scenes and objects at long distances not well covered by most
commercial LiDARs.
