Real-Time Spatial and Depth Upsampling for Range Data

摘要

Current active 3D range sensors, such as time-of-flight cameras, enable acquiring of range maps at video frame rate. Unfortunately, the resolution of the range maps is quite limited and the captured data are typically contaminated by noise. We therefore present a simple pipeline to enhance the quality as well as improve the spatial and depth resolution of range data in real time. To improve the spatial resolution of range data, we first upsample the depth information with the data from high resolution video camera. And then, a new strategy is utilized to increase the sub-pixel accuracy. We show that these techniques can greatly improve the reconstruction quality, boost the resolution of the range data to that of video sensor while achieving high computational efficiency for a real-time application.