Adaptive bilateral (BL) filtering for computer vision

A system for processing images, comprising:

• a processor and an associated memory;
• a bilateral (BL) filter program stored in said memory and executable by said processor or BL filter hardware, wherein the BL filter program or said BL filter hardware implements a method on an image frame comprising image data including a position and a range from a plurality of pixels, said frame including a plurality of filter windows each including a center pixel and a plurality of other pixels including a first pixel and a second pixel, processing each of said plurality of filter windows including:
• for said first pixel, determining a space being its distance relative to said center pixel and a range difference between its range and said range of said center pixel, using said space and said range difference, selecting a combined 2D weight from a plurality of combined 2D weights which each include weighting for both said space and said range difference from at least one combined pre-computed 2D weight lookup table (2D weight LUT), calculating a faltered range value by applying said selected combined 2D weight to said first pixel range, and summing said filtered range value to determine a contribution of said first pixel,
• repeating said determining, said selecting, said calculating, and said summing for at least said second pixel, and
• dividing a total sum of said contributions from said first pixel and at least said second pixel by a sum of said selected combined 2D weights from said first pixel and said second pixel to generate a final filtered range value for said center pixel as an output pixel.