Abstract
Because data from depth cameras are usually noisier and possess lower resolution than data from standard cameras, combining them leads to more accurate 3D representations than those provided by depth cameras alone. What’s more, the higher resolution of standard cameras can be used to obtain higher resolution depth maps. The first part of this chapter is devoted to combining a depth camera with a single color camera, with the goal of improving depth quality and resolution by filtering, interpolation, or enhancement techniques guided by the color data. The second part considers the case of a stereo vision system assisting a depth camera. In this case, two independent depth sources are combined to deliver a unique output stream with improved characteristics compared to the original inputs. Various approaches for this task are presented, based on both fast local schemes suited to real-time operation and more refined global optimization procedures.
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