Self-supervised Depth Denoising Using Lower- and Higher-quality RGB-D sensors. - Akhmedkhan Shabanov; Ilya Krotov; Nikolay Chinaev; Vsevolod Poletaev; Sergei Kozlukov; Igor Pasechnik; Bulat Yakupov; Artsiom Sanakoyeu; Vadim Lebedev; Dmitry Ulyanov (3DV, 2020)