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Trilateral Filtering of Range Images Using Normal Inner Products

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Presentation on theme: "Trilateral Filtering of Range Images Using Normal Inner Products"— Presentation transcript:

1 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

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

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

4 2.5 Dimension Data and Noises

5 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

6 Bilateral Filter

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

8 Similarity Function

9 Proposed Trilateral Filtering

10 Experimental Result 33 simulated indoor data

11 Bilateral Vs Trilateral

12 Experimental Result Smoothing comparison near orthogonal walls

13 Experimental Result 3D view

14 Experimental Result Trilateral and Bilateral output differences

15 Experimental Result PSNR and RMS

16 Thanks for your attention
Question ? Thanks for your attention ?

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