FuChe Wu¹ and Andrew Dellinger², ¹Providence University, Taiwan, ²Elon University, USA

This paper proposes an algorithm for improving estimation accuracy in industrial applications. Traditionally, a weighted sum method is used to map two views, but this approach often leads to blurry results. Instead, the winner-take-all approach is suggested as a means of achieving better accuracy. Three criteria are introduced for evaluating image quality, including sharpness (which measures the effect of motion artifacts from the RGB camera), flatness (which estimates the number of parts in the depth image that belong to plane parts), and fitness (which checks the match between the current view and existing map). While depth images provide 3D structure of the environment, they typically lack sufficient resolution to deliver accurate results. However, by estimating a plane, accuracy can be improved and a more precise boundary can be obtained from the higher resolution of the RGB image.

Accuracy,winner-take-all, depth image