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The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) is an interdepartmental research centre at the University of Zagreb Faculty of Electrical Engineering and Computing. The centre performs research in cooperative systems related to robotics, networked embedded systems and renewable energy systems. Its establishment and operation is funded by the European FP-7 Capacities "Research Potential" program [285939, FP7-REGPOT-2011-1].

Published: 2014-03-21 at 16:05
Research seminar "Multi-sensor...

The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) invites you to the research seminar:

"Multi-sensor 3D visual scene capture"

held by prof. Atanas Gotchev, Tampere University of Technology, Finland. The seminar will take place on Tuesday, March 25, 2014, starting at 12:00 in D-160 at the Faculty of Electrical Engineering and Computing.

More about the speaker and the seminar can be found in the detailed news content.


We propose a joint de-noising and data fusion approach where the fused modalities come from conventional high-resolution photo or video camera and low-resolution range sensor of time-of-flight type, operating in restricted conditions of low-emitting power and low number of sensor elements. Our approach includes identifying the various noise sources and suggesting suitable remedies at particular stages of data sensing and fusion. More specifically, fixed pattern noise and system noise are treated at a preliminary denoising stage working on range data only. In contrast to other 2D video/depth fusion approaches, which suggest working in planar coordinates, our approach includes additional denoising refinement in the space of 3D world coordinate system (i.e. point cloud space). Furthermore, the high-resolution grid resampling is performed as an iterative non-uniform to uniform resampling based on the Richardson method. This improves the performance compared to approaches based on low-to-high grid upsampling and subsequent refinement. We report experimental results where the achieved quality of fused data is the same as if the ToF sensor was operating in normal (low-noise) sensing mode.



AtanasGotchev (Ph.D., Technical University of Sofia, Bulgaria; Dr. Tech., Tampere University of Technology, Finland) is an Associate Professor with the Department of Signal Processing, Tampere University of Technology where he leads the 3D Media Group. His research interests are in sampling and interpolation theory; spline and spectral methods with applications to multi-dimensional signal analysis; and 3D and HDR imaging. He was Chair of the Research Exchange Committee of FP6-funded 3DTV Network of Excellence (2004-2008) and the Scientific Coordinator of FP7-funded MOBILE3DTV project (2007-2011). More recently, he has been Vice Chair of the EU COST Action 3D-ConTourNet (2012-2016), and manager of the PROLIGH Marie Curie IAPP Action (2013-2016), supporting the development of advanced signal processing methods for light-field displays. AtanasGotchev is member of EURASIP, SPE, and IEEE and was Chair of IEEE CAS & SP Chapter of Finland (2003-2005).

Mario Bukal
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ACROSS project has received research funding from the Seventh Framework Programme of the European Union (Grant Agreement No. 285939 FP7-REGPOT-2011-1).


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ACROSS brochure is available here.