期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：2
DOI：10.1177/1729881417695560
语种：English
出版社：SAGE Publications
摘要：This article concerns the problems of a defective depth map and limited field of view of Kinect-style RGB-D sensors. An anisotropic diffusion based hole-filling method is proposed to recover invalid depth data in the depth map. The field of view of the Kinect-style RGB-D sensor is extended by stitching depth and color images from several RGB-D sensors. By aligning the depth map with the color image, the registration data calculated by registering color images can be used to stitch depth and color images into a depth and color panoramic image concurrently in real time. Experiments show that the proposed stitching method can generate a RGB-D panorama with no invalid depth data and little distortion in real time and can be extended to incorporate more RGB-D sensors to construct even a 360° field of view panoramic RGB-D image.
关键词：Depth image stitching; RGB-D panorama; improved field of view; depth map hole filling; Kinect; image registration
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