Patent ID: 8565551

Claim:
An apparatus for reducing noise in range images, the apparatus comprising: a maximum likelihood detection unit calculating an equation for satisfying maximum log-likelihood on each coordinate axis in a coordinate space represented by the range images based on probability distribution of coordinate values assigned to each of observation points disposed in a plurality of grids that constitute range images representing three-dimensional (3D) coordinate information and coordinate values assigned to neighboring observation points that are adjacent to each observation point; a linearization unit transforming equations calculated on each of the observation points into a linear equation that is a linear system on each coordinate axis in a coordinate space; a constraint detection unit calculating a constraint equation in which a unit tangent vector of each observation point and a unit tangent vector of a neighboring point are identical with each other on each coordinate axis of the range images, wherein the constraint detection unit calculates the constraint equation from an equation of a tangent vector that is obtained by a partial differential equation in a direction of each coordinate axis of the range images; and a noise reduction unit reducing noise in range images by applying a resultant value that is obtained by calculating a value of a linear equation represented in the form of least squares together with the constraint equation by using a normal equation on a position of each observation point in the range images.