Real-time enhancement of RGB-D point clouds using piecewise plane fitting

Kazuki Matsumoto, Francois De Sorbier, Hideo Saito

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

5 Citations (Scopus)

Abstract

In this paper, we propose an efficient framework for reducing noise and holes in depth map captured with an RGB-D camera. This is performed by applying plane fitting to the groups of points assimilable to planar structures and filtering the curved surface points. We present a new method for finding global planar structures in a 3D scene by combining superpixel segmentation and graph component labeling. The superpixel segmentation is based on not only color information but also depth and normal maps. The labeling process is carried out by considering each normal in given superpixel's clusters. We evaluate the reliability of each plane structure and apply the plane fitting only to true planar surfaces. As a result, our system can reduce the noise of the depth map especially on planar area while preserving curved surfaces. The process is done in real-time thanks to GPGPU acceleration via CUDA architecture.

Original languageEnglish
Title of host publicationEUVIP 2014 - 5th European Workshop on Visual Information Processing
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479945726
DOIs
Publication statusPublished - 2015 Jan 22
Event5th European Workshop on Visual Information Processing, EUVIP 2014 - Paris, France
Duration: 2014 Dec 102014 Dec 12

Publication series

NameEUVIP 2014 - 5th European Workshop on Visual Information Processing

Other

Other5th European Workshop on Visual Information Processing, EUVIP 2014
CountryFrance
CityParis
Period14/12/1014/12/12

Keywords

  • GPU
  • Noise Reduction
  • Plane Fitting
  • RGB-D camera
  • Superpixel

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Information Systems
  • Signal Processing

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