Depth images filtering in distributed streaming

In this paper, we propose a distributed system for point cloud processing and transferring them via computer network regarding to effectiveness-related requirements. We discuss the comparison of point cloud filters focusing on their usage for streaming optimization. For the filtering step of the stream pipeline processing we evaluate four filters: Voxel Grid, Radial Outliner Remover, Statistical Outlier Removal and Pass Through. For each of the filters we perform a series of tests for evaluating the impact on the point cloud size and transmitting frequency (analysed for various fps ratio). We present results of the optimization process used for point cloud consolidation in a distributed environment. We describe the processing of the point clouds before and after the transmission. Pre- and post-processing allow the user to send the cloud via network without any delays. The proposed pre-processing compression of the cloud and the post-processing reconstruction of it are focused on assuring that the end-user application obtains the cloud with a given precision.