We report a method for super-resolution of range images. Our approach leverages the interpretation of LR image as sparse samples on the HR grid. Based on this interpretation, we demonstrate that our recently reported approach, which reconstructs dense range images from sparse range data by exploiting a registered colour image, can be applied for the task of resolution enhancement of range images. Our method only uses a single colour image in addition to the range observation in the super-resolution process. Using the proposed approach, we demonstrate super-resolution results for large factors (e.g. 4) with good localization accuracy.
3D range sensors, particularly 3D laser range scanners, enjoy a rising popularity and are used nowadays for many different applications. The resolution 3D range sensors provide in the image plane i ... This paper describes a highly successful application of MRFs to the problem of generating high-resolution range images. A new generation of range sensors combines the capture of low-resolution range images with the acquisition of registered high-resolution camera images. The MRF in this paper exploits the fact that discontinuities in range and coloring tend to co-align. This enables it to generate high-resolution, low-noise range images by integrating regular camera images into the range data. We show that by using such an MRF, we can substantially improve over existing range imaging technology. Applying the machine-learning technique of inference in Markov random fields we build improved 3D models by integrating two different modalities. Visual input from a standard color camera delivers high-resolution texture data but also enables us to enhance the 3D data calculated from the range output of a 3D time-of-flight camera in terms of noise and spatial resolution. The proposed method to increase the visual quality of the 3D data makes this kind of camera a promising device for various upcoming 3DTV applications. With our two-camera setup we believe that the design of low-cost, fast and highly portable 3D scene acquisition systems will be possible in the near future.