Robotics and Computer Vision Lab

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International Conference
2014.02.11 14:16

Noise aware depth denoising for a time-of-flight camera

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저 자 Jiyoung Jung, Joon-Young Lee, In So Kweon
학 회 20th Korea-Japan Joint Workshop on Frontiers of Computer Vision
Notes This research was supported by the MOTIE (The Ministry of Trade, Industry and Energy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (H1502-13-1001)
논문일시(Year) 2014
논문일시(Month) 02
A time-of-flight camera provides depth maps of the scene at video frame rate. However, their depth measurements are severely influenced by random noise and systematic bias. Previous approaches on depth denoising are usually variants of adaptive joint bilateral filtering with the help of a color image of the same scene. In this paper, we access to the raw range measurements of the ToF sensor instead of the transformed depth values, and we acquire range error profi le for each pixel along the range measurement by capturing a planar scene at di fferent distances. We correct the range bias using plane fi tting and then the remaining noise can be assumed to follow a zero-mean Gaussian distribution with variance according to the pixel location and the range measurement. Since the whole process is done beforehand leaving variance information, any kind of depth denoising algorithm assuming zero-mean Gaussian noise can perform well with our noise estimation.

List of Articles
399. GMM-based Saliency Aggregation for Calibration-free Gaze Estimation
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International Conference on Image Processing (ICIP) 2014 / 10
398. Cost-Aware Depth Map Estimation for Lytro Camera
Min Jung Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
397. Balanced Optical Flow Refinement by Bidirectional Constraint
Jongwon Choi, Hyeongwoo Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
396. Auto-adjusting Camera Exposure for Outdoor Robotics using Gradient Information
Inwook Shim, Joon-Young Lee, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014 / 09
395. Rao-Blackwellized Particle Filtering with Gaussian Mixture Models for Robust Visual Tracking
Jungho Kim, Zhe Lin, In So Kweon
Computer Vision and Image Understanding 2014 / 04
394. Color Transfer using Probabilistic Moving Least Squares
Youngbae Hwang, Joon-Young Lee, In So Kweon, Seon Joo Kim
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
393. Exploiting Shading Cues in Kinect IR Images for Geometry Refinement
Gyeongmin Choe, Jaesik Park, Yu-Wing Tai, In So Kweon
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
392. Calibrating a non-isotropic near point light source using a plane
Jaesik Park, Sudipta N. Sinha, Yasuyuki Matsushita, Yu-Wing Tai, In So Kweon
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
391. Rain/Snow Removal via Low-rank and Sparse Optimization
Rockhun Do, Tae-Hyun Oh, In So Kweon
Book Chapter of Digital Signal Processing for In-Vehicle Systems and Safety 2014 / 02
390. 구조적인 환경에서 3차원 직선을 이용한 평면 복원
Kyungdon Joo, Tae-Hyun Oh, Hyeongwoo Kim, In So Kweon
제 26 회 영상처리 및 이해에 관한 워크샵 (IPIU 2014) 2014 / 02
389. 강인한 보행자 검출을 위한 계층적 분류기 모델
Soonmin Hwang, Tae-Hyun Oh, In So Kweon
제 26회 영상처리 및 이해에 관한 워크샵 (IPIU 2014) 2014 / 02
388. 도로 상의 특징점을 이용한 단일 카메라 기반의 차량 자세 추정
Jongwon Choi, Tae-Hyun Oh, In So Kweon
제 26 회 영상처리 및 이해에 관한 워크샵 (IPIU 2014) 2014 / 02
387. 다중 정보 융합 비용 체적을 이용한 라이트 필드 카메라에서의 깊이지도 추정
Min Jung Kim, Tae-Hyun Oh, In So Kweon
제 26 회 영상처리 및 이해에 관한 워크샵 (IPIU 2014) 2014 / 02
386. PRISM: A System for Weighted Multi-Color Browsing of Fashion Products
Donggeun Yoo, Kyunghyun Paeng, Sunggyun Park, Jungin Lee, Seungwook Paek, Sung-Eui Yoon, In So Kweon
International World Wide Web Conference (WWW) Companion 2014 / 04
» Noise aware depth denoising for a time-of-flight camera
Jiyoung Jung, Joon-Young Lee, In So Kweon
20th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2014 / 02
384. P-RIF: Perceptually Robust Invariant Feature
Sungho Kim, In So Kweon
IPIU 2013 / 02
383. A Perceptual Visual Feature Extraction Method Achieved by Imitating V1 and V4 of the Human Visual System
Sungho Kim, 권순, In So Kweon
Cognitive Computation 2012 / 11
382. Image-Optimized Rolling Cache: Reducing the Miss Penalty for Memory-Intensive Vision Algorithms
Younggeun Kim, In So Kweon
IEEE Transactions on Circuits and Systems for Video Technology 2013 / 12
381. Robust Computer Vision Techniques for High-quality 3D Modeling
Joon-Young Lee, Jiyoung Jung, Yunsu Bok, Jaesik Park, Dong-Geol Choi, Yudeog Han, In So Kweon
IAPR Asian Conference on Pattern Recognition 2013 / 11
380. Orientation based multi-scale corner detection for mobile robot application
Sungho Kim, In So Kweon, Wangheon Lee
International Conference on Control, Automation and Systems 2012 / 10
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