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Edge-preserving Filtering and Fuzzy Image Enhancement in Depth Images Captured by Realsense Cameras in Robotic ApplicationsTADIC, V. , ODRY, A. , BURKUS, E. , KECSKES, I. , KIRALY, Z. , ODRY, P.
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filtering algorithms, fuzzy logic, image enhancement, robots, stereo vision
intel(21), depth(19), image(14), realsense(13), robot(11), odry(10), technologies(9), group(9), vision(8), processing(8)
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About this article
Date of Publication: 2020-08-31
Volume 20, Issue 3, Year 2020, On page(s): 83 - 92
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2020.03010
Web of Science Accession Number: 000564453800010
SCOPUS ID: 85090336328
This paper presents both the use of depth cameras in robotic applications and effects of post-processing on the captured depth images. The performance of depth cameras and post-processing image enhancement are evaluated with the aim to improve the depth-based object detection. First, the edge-preserving exponential moving average (EMA) filter and the fuzzy contrast enhancement procedures are briefly introduced. Then, the use of depth cameras with post-processing methods is shown in the example of painting robots. The use of the stereo depth camera is essential in robotic applications, since it constitutes the initial steps in a series of robotic operations, where the goal is to both detect and extract obstacles on walls that are not intended to be painted.
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