Abstract: In this work, we explore the capability of the mean
shift algorithm as a powerful preprocessing tool for improving the
quality of spatial data, acquired from airborne scanners, from densely
built urban areas. On one hand, high resolution image data corrupted
by noise caused by lossy compression techniques are appropriately
smoothed while at the same time preserving the optical edges and, on
the other, low resolution LiDAR data in the form of normalized
Digital Surface Map (nDSM) is upsampled through the joint mean
shift algorithm. Experiments on both the edge-preserving smoothing
and upsampling capabilities using synthetic RGB-z data show that the
mean shift algorithm is superior to bilateral filtering as well as to
other classical smoothing and upsampling algorithms. Application of
the proposed methodology for 3D reconstruction of buildings of a
pilot region of Athens, Greece results in a significant visual
improvement of the 3D building block model.