Abstract
Depth map is critical in Free-viewpoint television (FTV) system, and the quality of reconstructed depth map impacts the quality of rendering view. Depth map obtained from TOF camera, not only appears with large flat area and sharp edges, but also contains lots of noises. In order to achieve the aim of decreasing the noise and keeping the accurate of edges in the depth map, an iterative trilateral filter is proposed by combining bilateral filter and the introduced factor of illumination normal in this paper. The experimental results show that the proposed method can reduce the noise obviously，and keep the edge of the depth map from TOF camera well.
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