1. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Real-time depth up-sampling Hylke Buisman and Derek Chan Supervisor: Christian Theobalt 03-17-2008

2. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Problem description Primary goals –Super resolution and noise removal Input: low-res depth map, high-res color image Output: 3D mesh of up-sampled and denoised depth –Optimize for (near) real-time processing Data samples

3. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Approach Bilateral filter affects only areas of similar color

4. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Approach Joint bilateral up-sampling (Kopf et al.): Implementations explored: –Bilateral grid (Paris & Durand 2007) –Separable kernel approximation

5. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Results +=

6. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Results NaiveOptimized Naïve (Color) Bilateral grid (No color) Separable Kernel (Color) GPU 5 s1 s0.3 s0.6 s75 ms Runtimes (800 x 600 image) + = Input Result

7. Designing a 3D Video Camera Hylke Buisman and Derek Chan Supervisor: Christian Theobalt Hidden slide Hylke - 50% –Alignment: Extrinsics calibration Homography between depthmap and color image –CPU implementation JBU Separable kernel –Bilateral grid Derek - 50% –Alignment: 3d point cloud tesselation Reprojection into high-res camera –Median filter –GPU implementation of upsampling –3D results with texture