Co-occurrent Structural Edge Detection for Color-Guided Depth Map Super-Resolution

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Although RGBD cameras can provide depth information in real scenes, the captured depth map is often of low resolution and insufficient quality compared to the color image. Typically, most of the existing methods work by assuming that the edges in depth map and its corresponding color image are more likely to occur simultaneously. However, when the color image is rich in detail, the high-frequency information which is non-existent in the depth map will be introduced into the depth map. In this paper, we propose a CNN-based method to detect the co-occurrent structural edge for color-guided depth map super-resolution. Firstly, we design an edge detection convolutional neural network (CNN) to obtain the co-occurrent structural edge in depth map and its corresponding color image. Then we pack the obtained co-occurrent structural edges and the interpolated low-resolution depth maps into another customized CNN for depth map super-resolution. The presented scheme can effectively interpret and exploit the structural correlation between the depth map and the color image. Additionally, recursive learning is adopted to reduce the parameters of the customized CNN for depth map super-resolution and avoid overfitting. Experimental results demonstrate the effectiveness and reliability of our proposed approach by comparing with the state-of-the-art methods.