International Conference on Computer Analysis of Images and Patterns

CAIP 2015: Computer Analysis of Images and Patterns pp 394-402 | Cite as

Bilateral Filtering of 3D Point Clouds for Refined 3D Roadside Reconstructions

  • Bradley Moorfield
  • Ralf Haeusler
  • Reinhard Klette
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9257)


Stereo vision systems mounted on mobile platforms such as a road vehicles facilitate quick and inexpensive 3D reconstructions. However, reconstructed point clouds are noisy and appear unappealing in visualizations if not using shape priors or other specific ways of improvement. This paper describes a generic method to enhance the appearance of reconstructed meshes using bilateral filtering to smooth point clouds while preserving edge features and other small details. We demonstrate on synthetic and measured data that the proposed filtering process is beneficial for visualizations of noisy 3D data, and also for the preservation of the basic geometry of a real-world scene.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Bradley Moorfield
    • 1
  • Ralf Haeusler
    • 1
  • Reinhard Klette
    • 2
  1. 1.Department of Computer ScienceThe University of AucklandAucklandNew Zealand
  2. 2.School of EngineeringAuckland University of TechnologyAucklandNew Zealand

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