Range image smoothing and completion utilizing laser intensity
Range image smoothing and completion utilizing laser intensity
复制标题
DOI：
10.1080/01691864.2013.797141
复制
发表时间：
2013-08-01
影响因子：
2
通讯作者：
Hasegawa, Tsutomu
中科院分区：
文献类型：
--
作者：
Oishi, Shuji;Kurazume, Ryo;Hasegawa, Tsutomu
在本文中，我们提出了新的去噪技术的恶化的距离图像由激光扫描仪。激光扫描仪通过测量发射的激光脉冲的往返时间来获取从扫描仪到目标的距离值。同时，它们可以获得反射光的强度作为范围值的副产品。针对激光强度，提出了两种基于强度图像的距离像去噪方法：扩展双边滤波平滑法和置信度传播法。扩展的双边滤波器利用激光强度以及空间和距离信息，以便在保持跳跃和屋顶边缘等几何特征的同时平滑被噪声污染的距离图像。基于置信度传播的距离图像修复技术同时利用相邻的距离值和对应的灰度值来恢复退化的距离图像。我们进行模拟和实验，使用合成的图像和实际的距离图像的激光扫描仪，并验证所提出的技术抑制噪声，同时保持跳跃和屋顶边缘和修复恶化的距离图像。
In this paper, we propose new denoising techniques for a deteriorated range image taken by a laser scanner. Laser scanner acquires a range value from the scanner to the target by measuring the round-trip time of the emitted laser pulse. At the same time, they can obtain the strength of the reflected light as a side product of the range value. Focusing on the laser intensity, we propose two denoising techniques for a deteriorated range image utilizing the intensity image: smoothing by extended bilateral filter, and completion by belief propagation. The extended bilateral filter makes use of laser intensity in addition to the spatial and range information in order that we can smooth a range image corrupted by noises while the geometric features such as jump and roof edges are preserved. The range image completion technique with belief propagation restores a deteriorated range image using the adjacent range values and the corresponding intensity values simultaneously. 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.