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Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots

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dc.contributor.author Osunmakinde, IO
dc.date.accessioned 2010-12-23T08:44:54Z
dc.date.available 2010-12-23T08:44:54Z
dc.date.issued 2010-11
dc.identifier.citation Osunmakinde, IO. 2010. Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots. 21st Annual Symposium of the Pattern Recognition Association of South Africa (PRASA). Stellenbosch, South Africa, 22-23 November 2010, pp 6 en
dc.identifier.isbn 978-0-7992-2470-2
dc.identifier.uri http://hdl.handle.net/10204/4710
dc.description 21st Annual Symposium of the Pattern Recognition Association of South Africa (PRASA). Stellenbosch, South Africa, 22-23 November 2010 en
dc.description.abstract Robot navigation depends on accurate scene analysis by a camera using its data. This paper investigates a refinement of the inherent falsified depth maps generated from a 3D SwissRanger camera in the emission of beams of rays through a modulated infrared light channel affected by environmental noise. The SR4000 time-of-flight camera produces streams of depth maps projected as a 2.5D on an x-y plane, which are refined using a dynamic convolution filter method coupled with a hypergraph-type model. Our findings indicate that the range of the camera is experimentally confirmed as being nine metres; more extreme values of impulse noise pixels are detected outside the range; while the uniform noise of valid pixel values affects depth maps of objects formed within the range. A decrease in the window size of filtering, to a pixel level, minimizes both the falsified depth maps of corrupted frames and the dominant effect of the noise pixels, to an acceptable level. The performance of our approach in the absence of complementing time-of-flight (ToF) with other camera types exhibits reliable depth maps for promising field work in terms of visual quality, mean squared error (MSE), root mean squared error (RMSE), and peak signalto- noise ratio (PSNR). en
dc.language.iso en en
dc.publisher PRASA 2010 en
dc.relation.ispartofseries Conference Paper en
dc.subject Computer vision en
dc.subject SwissRanger camera en
dc.subject Image pixel en
dc.subject Depth map en
dc.subject Noise en
dc.subject Refinement en
dc.subject Robot en
dc.subject PRASA 2010 en
dc.title Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots en
dc.type Conference Presentation en
dc.identifier.apacitation Osunmakinde, I. (2010). Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots. PRASA 2010. http://hdl.handle.net/10204/4710 en_ZA
dc.identifier.chicagocitation Osunmakinde, IO. "Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots." (2010): http://hdl.handle.net/10204/4710 en_ZA
dc.identifier.vancouvercitation Osunmakinde I, Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots; PRASA 2010; 2010. http://hdl.handle.net/10204/4710 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Osunmakinde, IO AB - Robot navigation depends on accurate scene analysis by a camera using its data. This paper investigates a refinement of the inherent falsified depth maps generated from a 3D SwissRanger camera in the emission of beams of rays through a modulated infrared light channel affected by environmental noise. The SR4000 time-of-flight camera produces streams of depth maps projected as a 2.5D on an x-y plane, which are refined using a dynamic convolution filter method coupled with a hypergraph-type model. Our findings indicate that the range of the camera is experimentally confirmed as being nine metres; more extreme values of impulse noise pixels are detected outside the range; while the uniform noise of valid pixel values affects depth maps of objects formed within the range. A decrease in the window size of filtering, to a pixel level, minimizes both the falsified depth maps of corrupted frames and the dominant effect of the noise pixels, to an acceptable level. The performance of our approach in the absence of complementing time-of-flight (ToF) with other camera types exhibits reliable depth maps for promising field work in terms of visual quality, mean squared error (MSE), root mean squared error (RMSE), and peak signalto- noise ratio (PSNR). DA - 2010-11 DB - ResearchSpace DP - CSIR KW - Computer vision KW - SwissRanger camera KW - Image pixel KW - Depth map KW - Noise KW - Refinement KW - Robot KW - PRASA 2010 LK - https://researchspace.csir.co.za PY - 2010 SM - 978-0-7992-2470-2 T1 - Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots TI - Refinement of falsified depth maps for the SwissRanger time-of-flight 3D camera on autonomous robots UR - http://hdl.handle.net/10204/4710 ER - en_ZA


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