Boulanger P., Jokinen O., and Beraldin A. (2002). Intrinsic Filtering of Range Images Using a Physically Based Noise Model, Vision Interface, Calgary, Canada, June.

This paper presents a new multi-scales range data filtering technique which produces a scale-space filtering analogous to Gaussian filtering but has several interesting properties such as viewpoint invariance and automatic edge preservation. One of the main contribution of this paper is that it takes into account a physical model of the sensor to ensure optimum filtering of the signal. Using this filter, new algorithms can be developed to detect at multi-scale depth and orientation discontinuities or segment robustly range data based on the sign of Gaussian and mean curvatures.

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