Rapid Impulsive Noise Denoising in Range Images

  • Jian Wang
  • Zhen-qiang Yao
  • Lin Mei
  • Yao-jie Zhu
  • Yuan Yao
  • Yang Zhang
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 180)


A novel rapid impulsive noise denoising method for range image is presented. In a 2D scan line acquired by a laser range finder, distribution features of impulsive noises (INs) are analyzed, and then a mathematical representation of the features is provided by defining a few new coefficients. Subsequently, a rule-based distinguishing criterion is formulated to detect two types of INs: dropouts and invaders. The traditional mean filter is improved by an automotive non-IN neighbor searching procedure. A compositive algorithm with a very low computational complexity has been implemented as an embedded module in our self-developed software with copyright. An experiment on real range image is performed, and the results indicate that the proposed method can detect all the impulsive noises accurately and denoise them with a significant efficiency. It is proven that the method is suitable for practical applications on industrial or other fields.


Range image denoising Impulsive noises detestation and removal Computer vision Pattern recognition Laser radar scanning 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Jian Wang
    • 1
    • 2
  • Zhen-qiang Yao
    • 2
  • Lin Mei
    • 1
  • Yao-jie Zhu
    • 3
  • Yuan Yao
    • 4
  • Yang Zhang
    • 5
  1. 1.Cyber Physical System R&D CenterThe Third Research Institute of Ministry of Public SecurityShanghaiP.R. China
  2. 2.State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghaiP.R. China
  3. 3.Shanghai Yanfeng Visteon Automotive Trim Systems Co., Ltd.ShanghaiP.R. China
  4. 4.Information CenterNanjing University of Aeronautics and AstronauticsNanjingP.R. China
  5. 5.Clolrectal DepartmentNanjing Hospital of T.C.MNanjingP.R. China

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