Range image reconstruction based on robust multiresolution estimation of surface parameters

Abstract

This paper proposes two robust multiresolution estimation methods of surface parameters for range images. Based on the robust estimation of surface parameters, the proposed methods approximate a patch to a planar surface in the locally adaptive window. Selection of resolution is made pixelwise by comparing a locally computed homogeneity measure with the global threshold obtained by the distribution of the approximation error. The proposed multiresolution surface parameter estimation methods are applied to range image reconstruction and segmentation. Computer simulation results with noisy images contaminated by additive Gaussian noise and impulse noise show that the proposed multiresolution reconstruction methods preserve step and roof edges better than the conventional methods. Also the segmentation methods based on the estimated surface parameters are shown to be robust to noise.