Upsampling range data in dynamic environments

We present a flexible method for fusing information from optical and range sensors based on an accelerated high-dimensional filtering approach. Our system takes as input a sequence of monocular camera images as well as a stream of sparse range measurements as obtained from a laser or other sensor sy...

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Bibliographic Details
Published in2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition pp. 1141 - 1148
Main Authors Dolson, Jennifer, Jongmin Baek, Plagemann, Christian, Thrun, Sebastian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Acceleration
Cameras
Dynamic range
Information filtering
Information filters
Layout
Optical filters
Optical sensors
Sensor systems
Streaming media
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Summary:We present a flexible method for fusing information from optical and range sensors based on an accelerated high-dimensional filtering approach. Our system takes as input a sequence of monocular camera images as well as a stream of sparse range measurements as obtained from a laser or other sensor system. In contrast with existing approaches, we do not assume that the depth and color data streams have the same data rates or that the observed scene is fully static. Our method produces a dense, high-resolution depth map of the scene, automatically generating confidence values for every interpolated depth point. We describe how to integrate priors on object motion and appearance and how to achieve an efficient implementation using parallel processing hardware such as GPUs.
ISBN:1424469848
9781424469840
ISSN:1063-6919
DOI:10.1109/CVPR.2010.5540086