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Consequently, the depth noise variance is higher at the borders of the image, as shown in Figure 1. Figure 1 Noise in depth images is highly spatially variable.
The depth sequences were recorded in controlled indoor conditions in order to prevent any outliers in depth images and the offset in the intensity image due to sunlight.
Since the noise in depth images has a non-constant standard deviation, and some depth details are sometimes masked by noise, estimating the motion based on depth only is not very reliable.
In this article, we have presented a method for removing spatially variable and signal dependent noise in depth images acquired using a depth camera based on the time-of-flight principle.
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The maximal projections represent z-stacks (60 µm in depth) imaged over a 12-min time period.
The maximal projections represent z-stacks (60 µm in depth) imaged over a 26-min time period.
The maximal projections represent z-stacks (60 µm in depth) imaged over a 38-min time period.
The maximal projections represent z-stacks (60 µm in depth) imaged over a 40-min time period.
There is scope for more in depth image analysis of a larger body of projects that may reveal more detailed findings that could contribute to future guideline discussions.
This situation is shown in Figure 8. Figure 8 The overlapped situation in depth image and motion image.
Bilateral filter almost recovers the sharp edges in depth image, while has minor artifacts (for instance, see chimney of house).
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