Adaptive regularized noise smoothing of dense range image using directional Laplacian operators

This paper proposes a adaptive regularized noise smoothing algorithm for dense range image using directional Laplacian operatos, which preserves discontinuities and removes Gaussian and impulsive noise, simultaneously. In general, dense range data includes heavy noise such as Gaussian noise and impulsive noise. Although the existing regularized noise smoothing algorithm can easily smooth Gaussian noise, impulsive noise is not easy to remove from observed range data. In addition, in order to recover the problem such as artifacts on edge region in the conventional regularized noise smoothing of range data, the second smoothness constraint is applied through minimizing the di erence between the median ltered data and original data. As a result, the proposed algorithm can e ectively remove the noise of dense range data with directional edge preserving.