Abstract

Although a time-of-flight (ToF) depth camera provides depth information in dynamic scenes, captured depth images are often noisy and of low resolution. In this paper, we propose color-guided boundary-preserving depth upsampling based on L 0 gradient minimization to enhance both resolution and visual quality of depth images. Guided by the high-resolution color image, we perform optimization to preserve boundaries along objects. We apply the L 0 gradient to the regularization term, and compute its weights from both color and depth images. We optimize the objective function using alternative minimization and half-quadratic splitting. Experimental results on Middlebury 2005 and real-world scene datasets demonstrate that the proposed method produces boundary-preserving depth upsampling results and outperforms state-of-the-art ones in terms of accuracy.

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