Joint upsampling and noise reduction for real-time depth map enhancement
Kazuki Matsumoto, Chiyoung Song, François de Sorbier, Hideo Saitô · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2014
An efficient system that upsamples depth map captured by Microsoft Kinect while jointly reducing the effect of noise is presented. The upsampling is carried by detecting and exploiting the piecewise locally planar structures of the downsampled depth map, based on corresponding high-resolution RGB image. The amount of noise is reduced by accumulating the downsampled data simultaneously. By benefiting from massively parallel computing capability of modern commodity GPUs, the system is able to maintain high frame rate. Our system is observed to produce the upsampled depth map that is very close to the original depth map both visually and mathematically.