Title: Increasing depth lateral resolution based on sensor fusion

Authors: W. Hannemann, A. Linarth, B. Liu, G. Kokai, O. Jesorsky

Addresses: Elektrobit Automotive Software, Am Wolfsmantel 46, Erlangen 91058, Germany. ' Elektrobit Automotive Software, Am Wolfsmantel 46, Erlangen 91058, Germany. ' Elektrobit Automotive Software, Am Wolfsmantel 46, Erlangen 91058, Germany. ' Elektrobit Automotive Software, Am Wolfsmantel 46, Erlangen 91058, Germany. ' Elektrobit Automotive Software, Am Wolfsmantel 46, Erlangen 91058, Germany

Abstract: Technologies for measuring range data were intensively developed in recent years. The Time-Of-Flight matrix range sensor is one of the most active range acquisition devices, due to its effective suppression of background illumination, relative low cost and high portability. However, the resolution of such 3D range sensor is much lower than that of a modern colour image. This paper presents a solution to the problem of deriving a high-resolution depth image from a low-resolution sensor and a high-resolution colour image. The proposed algorithm is a modification of the Markov Random Fields fusion method that was presented by Diebel and Thrun (2005). Two extensions are suggested to improve the optimisation criteria.

Keywords: 3D vision; range interpolation; sensor fusion; TOF camera; time-of-flight camera; depth lateral resolution.

DOI: 10.1504/IJISTA.2008.021302

International Journal of Intelligent Systems Technologies and Applications, 2008 Vol.5 No.3/4, pp.393 - 401

Published online: 18 Nov 2008 *

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