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Non-iterative Vision-based Interpolation of 3D Laser Scans
Örebro University, Department of Technology. (Learning Systems Lab)ORCID iD: 0000-0002-2953-1564
University of Freiburg, Germany. (Department of Computer Science)
Örebro University, Department of Technology. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
2007 (English)In: Autonomous Robots and Agents, Berlin / Heidelberg: Springer , 2007, Vol. 76, 83-90 p.Chapter in book (Other academic)
Abstract [en]

3D range sensors, particularly 3D laser range scanners, enjoy a rising popularity and are used nowadays for many different applications. The resolution 3D range sensors provide in the image plane is typically much lower than the resolution of a modern colour camera. In this chapter we focus on methods to derive a highresolution depth image from a low-resolution 3D range sensor and a colour image. The main idea is to use colour similarity as an indication of depth similarity, based on the observation that depth discontinuities in the scene often correspond to colour or brightness changes in the camera image. We present five interpolation methods and compare them with an independently proposed method based on Markov random fields. The proposed algorithms are non-iterative and include a parameter-free vision-based interpolation method. In contrast to previous work, we present ground truth evaluation with real world data and analyse both indoor and outdoor data

Place, publisher, year, edition, pages
Berlin / Heidelberg: Springer , 2007. Vol. 76, 83-90 p.
Series
Studies in Computational Intelligence, ISSN 1860-949X ; 76
Keyword [en]
3D range sensor, laser range scanner, vision-based depth interpolation, 3D vision
National Category
Engineering and Technology Computer and Information Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-4259DOI: 10.1007/978-3-540-73424-6_10OAI: oai:DiVA.org:oru-4259DiVA: diva2:138558
Available from: 2007-12-13 Created: 2007-12-13 Last updated: 2017-10-18Bibliographically approved

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Andreasson, HenrikLilienthal, Achim J.

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CiteExportLink to record
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  • apa
  • ieee
  • modern-language-association-8th-edition
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
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