Fusing Depth and Silhouette for Scanning Transparent Object with RGB-D Sensor

Figure 2

Depth classification result; (a) is color image and (b) is depth image after depth classification. Green: measured depth and the intensity stands for different depth values. Since the 255 intensity value is not enough for the depth value representation, the measured depth is drawn periodically to reflect the depth change. Cyan: shadow noise. white: score means out-of-range ZD. Pink and red: score means out-of-range ZD, and pink labels too far ZD which should be filled by background depth. Yellow: score means possible transparent noise.

(a)

(b)