Enhancement of range data using a structure-aware filter
We achieve color-guided normal smoothing from a noisy depth map, which can successfully obtain a reliable normal field. We develop a structure-preserving range data enhancement algorithm based on normal information through a 3D bilateral filter. The proposed method can inherently circumvent common artifacts such as texture copy and edge blurring by avoiding using color information in depth adjustment.
normal smoothing bilateral filtering depth enhancement edge preservation denoising