SwissRanger SR-3000 range images enhancement by a singular value decomposition filter

This paper presents a preliminary study on the enhancement of the SwissRanger SR-3000psilas range images by a singular value decomposition filtering method. The image enhancement is performed by converting a conventional range image into an enhanced range image where each pixelpsilas intensity embodies the surface normal and depth information of the corresponding pixel in the original image. This representation of range image makes an objectpsilas edges distinctive. But it corrupts the objectpsilas surfaces due to the noise in range data. We propose a filtering method based on the Singular Value Decomposition to alleviate the surface corruption and preserve the edges. The efficacy of the proposed method is validated by numerous experiments in various environments.