Depth Video Enhancement for Haptic Interaction Using a Smooth Surface Reconstruction

Seung-man KIM  Jongeun CHA  Jeha RYU  Kwan Heng LEE  

IEICE TRANSACTIONS on Information and Systems   Vol.E89-D   No.1   pp.37-44
Publication Date: 2006/01/01
Online ISSN: 1745-1361
DOI: 10.1093/ietisy/e89-d.1.37
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Section on Artificial Reality and Telexistence)
depth video,  haptic interaction,  3D reconstruction,  data refinement,  

Full Text: PDF(1.5MB)>>
Buy this Article

We present a depth video enhancement algorithm in order to provide high quality haptic interaction. As the telecommunication technology emerges rapidly, the depth image-based haptic interaction is becoming viable for broadcasting applications. Since a real depth map usually contains discrete and rugged noise, its haptic interaction produces the distorted force feedback. To resolve these problems, we propose a two-step refinement and adaptive sampling algorithm. In the first step, noise is removed by the median-filtering technique in 2D image space. Since not all pixels can be used to reconstruct the 3D mesh due to limited system resources, the filtered map is adaptively sampled based on the depth variation. Sampled 2D pixels, called feature points, are triangulated and projected onto 3D space. In the second refinement step, we apply the Gaussian smoothing technique to the reconstructed 3D surface. Finally, 3D surfaces are rendered to compute a smooth depth map from Z-buffer.