거리영상 개선을 위한 정칙화 기반 표면 평활화기술

Regularized Surface Smoothing for Enhancement of Range Data

This paper proposes an adaptive regularized noise smoothing algorithm for range image using the area decreasing flow method, which can preserve meaningful edges during the smoothing process. Although the area decreasing flow method can easily smooth Gaussian noise, it has two problems; ⅰ) it is not easy to remove impulsive noise from observed range data, and ⅱ) it is also difficult to remove noise near edge when the adaptive regularization is used. In the paper, therefore, the second smoothness constraint is addtionally incorporated into the existing regularization algorithm, which minimizes the difference between the median filtered data and the estimated data. As a result, the Proposed algorithm can effectively remove the noise of dense range data with edge preserving.