Adaptive smoothing of range images based on intrinsic surface properties
Pierre Boulanger, Paul R. Cohen · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
This paper presents a new type of adaptive smoothing technique for range images based on intrinsic properties of differential geometry. The concept of intrinsic surface distance and the parallel transport theorem were used to design a filter that is invariant to the viewpoint and is capable of preserving depth and orientation discontinuities. Experimental results are presented. 1