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Vision based interpolation of 3D laser scans
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-2953-1564
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
Department of Computer Science, University of Freiburg, Germany.
2006 (English)In: Proceedings of the Third International Conference on Autonomous Robots and Agents, 2006, p. 455-460Conference paper, Published paper (Refereed)
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 color camera. In this paper we focus on methods to derive a high-resolution depth image from a low-resolution 3D range sensor and a color image. The main idea is to use color similarity as an indication of depth similarity, based on the observation that depth discontinuities in the scene often correspond to color 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 algorithms proposed in this paper 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. Further, we suggest and evaluate four methods to determine a confidence measure for the accuracy of interpolated range values.

Place, publisher, year, edition, pages
2006. p. 455-460
Keywords [en]
3D range sensor, laser range scanner, vision-based depth interpolation, 3D vision
National Category
Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3955OAI: oai:DiVA.org:oru-3955DiVA, id: diva2:138254
Conference
Third International Conference on Autonomous Robots and Agents, ICARA 2006, 12-14 December, Palmerston North, New Zeeland
Available from: 2007-08-27 Created: 2007-08-27 Last updated: 2018-06-12Bibliographically approved

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Vision based Interpolation of 3D Laser Scans(1112 kB)16 downloads
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Andreasson, HenrikLilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
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Output format
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