Real-Time Structure Preserving Image Noise Reduction For Computer Vision On

Abstract

A camera is often the main sensor of autonomous robots. As those embedded platforms o#er minor computing power only, it is a challenge to provide a fast and robust image processing. This paper describes a new real-time structure preserving noise reduction operator based on the so-called SUSAN filtering approach. We use a correlation function to determine which part of a pixel's neighborhood has to be included in the smoothing process. Thus, the smoothing process takes place only inside homogeneous regions of the image, without blurring edges and bi-dimensional features which are needed for object recognition