NDLI: Real-time depth diffusion for 3D surface reconstruction

Content Provider	IEEE Xplore Digital Library
Author	Varadarajan, K.M. Vincze, M.
Copyright Year	2010
Description	Author affiliation: Vision for Robotics, Automation and Control Institute, TU Wien, Austria (Varadarajan, K.M.; Vincze, M.)
Abstract	Range data obtained from conventional stereo-cameras employing dense stereo matching algorithms typically contain a high amount of noise, especially under poor illumination conditions. Furthermore, lack of reliable depth estimates in low-texture regions can result in poor 3D surface reconstruction. Anisotropic diffusion algorithms have been used recently in stereo matching, depth estimation and 3D surface reconstruction. However, these algorithms typically have long execution times, preventing real-time operation on resource constrained systems and robots. Moreover, most of these techniques suffer from excessive smoothing at depth discontinuities resulting in loss of structure, especially in areas where the 2D image does not provide structural cues to guide the depth diffusion. These algorithms are also unsuitable for diffusion of extremely sparse depth data such as in the case of homogenous surfaces. This paper addresses these issues by novel denoising and diffusion techniques. The results presented demonstrate the run-time efficiency and fidelity of reconstructed depth surfaces.
Starting Page	4149
Ending Page	4152
File Size	628271
Page Count	4
File Format	PDF
ISBN	9781424479924
ISSN	15224880
e-ISBN	9781424479948
e-ISBN	9781424479931
DOI	10.1109/ICIP.2010.5653845
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-26
Publisher Place	Hong Kong
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pixel Surface reconstruction Surface morphology Filtering Estimation Image reconstruction Equations multi-grid Depth dense stereo anisotropic diffusion real-time
Content Type	Text
Resource Type	Article

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