Abstract

DIAZ, Andrés; CAICEDO, Eduardo; PAZ, Lina  and  PINIES, Pedro. Depth Map Denoising and Inpainting Using Object Shape Priors. Comp. y Sist. [online]. 2020, vol.24, n.1, pp.221-239.  Epub Sep 27, 2021. ISSN 2007-9737.  https://doi.org/10.13053/cys-24-1-3004.

We present a system that improves the quality of noisy and incomplete depth maps captured with inexpensive range sensors. We use a model-based approach that measures the discrepancy between a model hypothesis and observed depth data. We represent the model hypothesis as a 3D level-set embedding function and the observed data as a point cloud coming from a segmented region associated to the object of interest. The discrepancy between the model and the observed data defines an objective function, that is minimized to obtain pose, scale and shape. The variation in shape of the object of interest is mapped with Gaussian Process Latent Variable Models GPLVM and the object pose is estimated using Lie algebra. The integration of a synthetic depth map, obtained from the optimal model, and the observed depth map is carried out with variational techniques. As a consequence we work in the observed space (depth space) rather than in a high dimensional volumetric space.

Keywords : Shape prior; 3D level-set embedding function; Levenberg-Marquardt; lie algebra; depth integration; variational techniques; Gaussian process latent variable models; denoising and inpainting.

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