Trilateral Filtering of Range Images Using Normal Inner Products Taha Hamedani Robot Perception Lab Ferdowsi University of Mashhad The 2nd RSI International Conference on Robotics and Mechatronics (ICROM 2014) Oct 2014

Outline Kinect Range Data and its Noises Bilateral Filtering Similarity Kernel Proposed Trilateral Filter Experimental Result

Microsoft Kinect Sensor Estimate Depth data by structure light method Project pseudo Random Pattern IR Estimation based on position of received IR ray

2.5 Dimension Data and Noises

Bilateral Filter Bilateral Filter is a edge preserving filter that smooth the image Smooth the image based on weighted average Similarity Kernel Spatial Gaussian Kernel

Bilateral Filter

Normal Vector Trilateral Filter based on Normal vectors Normal Vectors Extraction methods

Similarity Function

Proposed Trilateral Filtering

Experimental Result 33 simulated indoor data

Bilateral Vs Trilateral

Experimental Result Smoothing comparison near orthogonal walls

Experimental Result 3D view

Experimental Result Trilateral and Bilateral output differences

Experimental Result PSNR and RMS

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