Bilateral Filtering for Gray and Color Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ACM SIGGRAPH 2007 papers
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Time-of-Flight (TOF) sensor is an acquisition device that can capture the range data using an infrared pulse in real-time; however, it is unsuitable to perform fine 3D scanning due to sensing limitations such as low depth resolution and severe random noise. The depth measurements between adjacent regions are not distinct so that the reconstructed geometry often fails to express the details of an original shape. To perform noise removal without a loss of details, an edge-preserving filter by [Tomasi and Manduchi 1998]] has been adopted. The joint bilateral filter [J. Kopf 2007] is also used since it provides a better performance when additional information such as a high resolution image is available. However, the quality of acquired depth data needs more improvement to generate a more precise 3D model. In this research, an iterative algorithm is proposed based on the coarse-to-fine strategy to refine the depth information acquired from TOF sensor. Our method focuses on the reconstruction of 3D geometry from the measured depth map and color images. Our method outperforms other filtering techniques in noise reduction and the refinement of raw data.