Bilateral filtering of 3D point clouds for refined 3D roadside reconstructions


by B Moorfield, R Haeusler, R Klette
Abstract:
Stereo vision systems mounted on mobile platforms such as a road vehicles facilitate quick and inexpensive 3D reconstructions. However, reconstructed point clouds are noisy and appear unappealing in visualizations if not using shape priors or other specific ways of improvement. This paper describes a generic method to enhance the appearance of reconstructed meshes using bilateral filtering to smooth point clouds while preserving edge features and other small details. We demonstrate on synthetic and measured data that the proposed filtering process is beneficial for visualizations of noisy 3D data, and also for the preservation of the basic geometry of a real-world scene.
Reference:
Bilateral filtering of 3D point clouds for refined 3D roadside reconstructions (B Moorfield, R Haeusler, R Klette), In Computer Analysis of Images and Patterns, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer Verlag, volume 9257, 2015.
Bibtex Entry:
@inproceedings{moorfield2015bilateralreconstructions,
author = "Moorfield, B and Haeusler, R and Klette, R",
booktitle = "Computer Analysis of Images and Patterns, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
organization = "Valletta, Malta",
pages = "394--402",
publisher = "Springer Verlag",
title = "Bilateral filtering of 3D point clouds for refined 3D roadside reconstructions",
volume = "9257",
year = "2015",
abstract = "Stereo vision systems mounted on mobile platforms such as a road vehicles facilitate quick and inexpensive 3D reconstructions. However, reconstructed point clouds are noisy and appear unappealing in visualizations if not using shape priors or other specific ways of improvement. This paper describes a generic method to enhance the appearance of reconstructed meshes using bilateral filtering to smooth point clouds while preserving edge features and other small details. We demonstrate on synthetic and measured data that the proposed filtering process is beneficial for visualizations of noisy 3D data, and also for the preservation of the basic geometry of a real-world scene.",
doi = "10.1007/978-3-319-23117-4_34",
startyear = "2015",
startmonth = "Sep",
startday = "2",
finishyear = "2015",
finishmonth = "Sep",
finishday = "4",
isbn = "9783319231167",
issn = "0302-9743",
eissn = "1611-3349",
language = "eng",
conference = "16th International conference of Computer Analysis of Images and Patterns",
}