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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