Depth image enhancement using local tangent plane approximations

Kiyoshi Matsuo, Yoshimitsu Aoki

    研究成果: Conference contribution

    33 被引用数 (Scopus)


    This paper describes a depth image enhancement method for consumer RGB-D cameras. Most existing methods use the pixel-coordinates of the aligned color image. Because the image plane generally has no relationship to the measured surfaces, the global coordinate system is not suitable to handle their local geometries. To improve enhancement accuracy, we use local tangent planes as local coordinates for the measured surfaces. Our method is composed of two steps, a calculation of the local tangents and surface reconstruction. To accurately estimate the local tangents, we propose a color heuristic calculation and an orientation correction using their positional relationships. Additionally, we propose a surface reconstruction method by ray-tracing to local tangents. In our method, accurate depth image enhancement is achieved by using the local geometries approximated by the local tangents. We demonstrate the effectiveness of our method using synthetic and real sensor data. Our method has a high completion rate and achieves the lowest errors in noisy cases when compared with existing techniques.

    ホスト出版物のタイトルProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
    出版社IEEE Computer Society
    出版ステータスPublished - 2015 10月 14
    イベントIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015 - Boston, United States
    継続期間: 2015 6月 72015 6月 12


    OtherIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
    国/地域United States

    ASJC Scopus subject areas

    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識


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