スーパーピクセル上の接平面に対する光線追跡を用いた距離画像の補間

抄録

This paper proposes a fusion technique that takes noisy low-resolution distance information and high-resolution color information, and produces accurate and high-resolution 3D measurements. In our method, first, tangent planes on each superpixel of the high-resolution color information are estimated from the low-resolution distance information. Then, using ray-tracing calculation, these tangent planes are divided into groups consisting of smooth-connectable tangent planes. Finally, the interpolation of distance value is performed using an upsampling filter on each region consisting of superpixels that have smooth-connectable tangent planes. The clustering of tangent planes using ray-tracing calculation achieves efficient and noise-robust smooth surface segmentation, and a high completion rate is achieved in noisy situations without decreasing the interpolation accuracy. In additional, ray-tracing calculation for tangent planes makes it possible to estimate distance information of surfaces behind occlusions. In experiments on images from the Middlebury stereo datasets with added simulated Gaussian measurement noise, our method interpolates each image at a high completion rate, and achieves low error when compared with existing techniques.