An efficient method to find a triangle with the least sum of distances from its vertices to the covered point

Abstract

Depth sensors are used to acquire a scene from various viewpoints, with the resultant depth images integrated into a 3d model. Generally, due to surface reflectance properties, absorptions, occlusions and accessibility limitations, certain areas of scenes are not sampled, leading to holes and introducing undesirable artifacts. An efficient algorithm for filling holes on organized depth images is high significance. Points far away from a covered point, are usually low probability in the aspect of spatial information, due to contamination of outliers and distortion. The paper shows an algorithm to find a triangle whose vertices are nearest to the covered point.