Denoising of range images using a trilateral filter and belief propagation

Shuji Oishi, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Two denoising techniques using reflectivity for noisy range images are proposed: range image smoothing by trilateral filter and range image inpainting by belief propagation. The trilateral filter makes use of reflectivity as well as spatial and intensity information so that geometric features, such as jump and roof edges, are preserved while smoothing. The range image inpainting technique based on belief propagation recovers a deteriorated range image using not only the adjacent range values but also the continuity of the reflectance image. We conduct simulations and experiments using synthesized images and actual range images taken by a laser scanner and verify that the proposed techniques suppress noise while preserving jump and roof edges and repair deteriorated range images.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2020-2027
Number of pages8
DOIs
Publication statusPublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Oishi, S., Kurazume, R., Iwashita, Y., & Hasegawa, T. (2011). Denoising of range images using a trilateral filter and belief propagation. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 2020-2027). [6048099] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048099