ITSC16_0197_FI.pdf (1.22 MB)
High-resolution LIDAR-based depth mapping using bilateral filter
conference contribution
posted on 2018-09-19, 12:23 authored by Cristiano Premebida, Luis Garrote, Alireza Asvadi, A. Pedro Ribeiro, Urbano NunesHigh resolution depth-maps, obtained by upsampling sparse range data from a 3D-LIDAR, find applications in many fields ranging from sensory perception to semantic segmentation and object detection. Upsampling is often based on combining data from a monocular camera to compensate the low-resolution of a LIDAR. This paper, on the other hand, introduces a novel framework to obtain dense depth-map solely from a single LIDAR point cloud; which is a research direction that has been barely explored. The formulation behind the proposed depth-mapping process relies on local spatial interpolation, using sliding-window (mask) technique, and on the Bilateral Filter (BF) where the variable of interest, the distance from the sensor, is considered in the interpolation problem. In particular, the BF is conveniently modified to perform depthmap upsampling such that the edges (foreground-background discontinuities) are better preserved by means of a proposed method which influences the range-based weighting term. Other methods for spatial upsampling are discussed, evaluated and compared in terms of different error measures. This paper also researches the role of the mask's size in the performance of the implemented methods. Quantitative and qualitative results from experiments on the KITTI Database, using LIDAR point clouds only, show very satisfactory performance of the approach introduced in this work.
Funding
This work has been supported by FCT and COMPETE under projects “AMSHMI2012-RECI/EEIAUT/0181/2012” and “UID/EEA/00048/2013”. L.Garrote is supported by FCT under grant SFRH/BD/88459/2012.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSCPages
2469 - 2474Citation
PREMEBIDA, C. ... et al, 2016. High-resolution LIDAR-based depth mapping using bilateral filter. Presented at the IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil, 1st-4th November 2016, pp.2469-2474.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Publication date
2016Notes
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISBN
9781509018895eISSN
2153-0017Publisher version
Language
- en