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Proceedings ArticleDOI

High quality depth map estimation by kinect upsampling and hole filling using RGB features and mutual information

01 Dec 2013-pp 1-4
TL;DR: This work proposed an algorithm to fill the unwanted gaps in kinect depth maps and upsampled it using corresponding high resolution color image and applied 9×9 median filtering on implementation results to get high quality and improved depth maps.
Abstract: High quality depth map estimation is required for better visualization of 3D views as there is great impact of depth map quality on overall 3D image quality. If the depth is estimated from conventional ways using two or more images, some defects come into picture, mostly in regions without texture. We utilised Microsoft Kinect RGBD dataset to obtain input color images and depth maps which also includes some noise factors. We proposed a method to remove this noise and get quality depth images. First the color and depth images are aligned to each other using intensity based image registration. This method of image alignment is mostly used in medical field, but we applied this technique to correct kinect depth maps by which one can avoid cumbersome task of feature based point correspondence between images. There is no requirement of preprocessing or segmentation steps if we use intensity based image alignment method. Second, we proposed an algorithm to fill the unwanted gaps in kinect depth maps and upsampled it using corresponding high resolution color image. Finally we applied 9×9 median filtering on implementation results and get high quality and improved depth maps.
Citations
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Journal ArticleDOI
TL;DR: Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot.
Abstract: This paper presents Kinect-based vision system of mine rescue robot working in illuminous underground environment. The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. A K-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot.

16 citations

Proceedings ArticleDOI
30 Jul 2015
TL;DR: This work addresses the challenging issue of 3D and multiview compression by introducing a method that corrects depth maps to achieve high quality synthesized views while significantly reducing the required bitrate.
Abstract: Autosteroscopic multiview displays are the future of 3D technology. At the same time, this technology requires transmission of multiple video streams and depth maps, increasing the necessity for efficient compression. In this work, we address the challenging issue of 3D and multiview compression by introducing a method that corrects depth maps to achieve high quality synthesized views while significantly reducing the required bitrate. Our proposed method uses a three-phase depth map correction, including eliminating anomalies, segmentation, depth value correction, and finally inter-frame and intra-frame filtering. Subjective performance evaluations show that our method yields high quality synthesized views while significantly reduces the required bandwidth for the corrected depth maps (up to 48%).

2 citations

References
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Proceedings ArticleDOI
04 Jan 1998
TL;DR: In contrast with filters that operate on the three bands of a color image separately, a bilateral filter can enforce the perceptual metric underlying the CIE-Lab color space, and smooth colors and preserve edges in a way that is tuned to human perception.
Abstract: Bilateral filtering smooths images while preserving edges, by means of a nonlinear combination of nearby image values. The method is noniterative, local, and simple. It combines gray levels or colors based on both their geometric closeness and their photometric similarity, and prefers near values to distant values in both domain and range. In contrast with filters that operate on the three bands of a color image separately, a bilateral filter can enforce the perceptual metric underlying the CIE-Lab color space, and smooth colors and preserve edges in a way that is tuned to human perception. Also, in contrast with standard filtering, bilateral filtering produces no phantom colors along edges in color images, and reduces phantom colors where they appear in the original image.

8,738 citations


"High quality depth map estimation b..." refers methods in this paper

  • ...Before filling the depth holes, depth image is mapped or aligned with color image by using mutual information of both images which avoids hectic task of point correspondence between images....

    [...]

Proceedings ArticleDOI
17 Jun 2007
TL;DR: A new post-processing step is presented to enhance the resolution of range images, using one or two registered and potentially high-resolution color images as reference and iteratively refine the input low-resolution range image in terms of both its spatial resolution and depth precision.
Abstract: We present a new post-processing step to enhance the resolution of range images. Using one or two registered and potentially high-resolution color images as reference, we iteratively refine the input low-resolution range image, in terms of both its spatial resolution and depth precision. Evaluation using the Middlebury benchmark shows across-the-board improvement for sub-pixel accuracy. We also demonstrated its effectiveness for spatial resolution enhancement up to 100 times with a single reference image.

834 citations


"High quality depth map estimation b..." refers background in this paper

  • ...It is very essential to get denser and cleaner depth maps to enhance the quality of viewing experience of the end users....

    [...]

01 Jan 1995

688 citations


"High quality depth map estimation b..." refers methods in this paper

  • ...The proposed algorithm follows the steps below. a) Take a window of size w x w around pixel of uncertain depth (call it Pm), where w can vary according to the size of black hole....

    [...]

  • ...To minimize these oscillations, a preprocessing step is used which includes small resampling of the moving image....

    [...]

Proceedings Article
05 Dec 2005
TL;DR: It is shown that by using an MRF to generate high-resolution, low-noise range images by integrating regular camera images into the range data, this technology can substantially improve over existing range imaging technology.
Abstract: This paper describes a highly successful application of MRFs to the problem of generating high-resolution range images. A new generation of range sensors combines the capture of low-resolution range images with the acquisition of registered high-resolution camera images. The MRF in this paper exploits the fact that discontinuities in range and coloring tend to co-align. This enables it to generate high-resolution, low-noise range images by integrating regular camera images into the range data. We show that by using such an MRF, we can substantially improve over existing range imaging technology.

643 citations


"High quality depth map estimation b..." refers background in this paper

  • ...It is very essential to get denser and cleaner depth maps to enhance the quality of viewing experience of the end users....

    [...]

Proceedings ArticleDOI
01 Nov 2011
TL;DR: The functionality of Kinect calibration is demonstrated by integrating it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system by computing relative poses from matches in color camera.
Abstract: We analyze Kinect as a 3D measuring device, experimentally investigate depth measurement resolution and error properties and make a quantitative comparison of Kinect accuracy with stereo reconstruction from SLR cameras and a 3D-TOF camera. We propose Kinect geometrical model and its calibration procedure providing an accurate calibration of Kinect 3D measurement and Kinect cameras. We demonstrate the functionality of Kinect calibration by integrating it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system by computing relative poses from matches in color camera.

418 citations