Semantically aware multilateral filter for depth upsampling in automotive LiDAR point clouds

image colour analysis image filtering image reconstruction image sampling image segmentation object detection optical radar radar imaging RGB pixels RGBD pedestrian detection system automotive LiDAR point clouds depth image reconstruction depth upsampling image processing steps measurement noise suppression segmentation semantically aware multilateral filter virtual camera image Cameras Image reconstruction Image segmentation Laser radar Reflectivity Roads Three-dimensional displays