21 February 2013 A bilateral hole filling algorithm for time-of-flight depth camera
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In this paper, we present a simple but e ective hole lling algorithm for depth images acquired by time-of- ight (ToF) cameras. The proposed algorithm recovers a hole region of a depth image by taking into account contour pixels surrounding the hole region. In particular, eight contour pixels are selected and then grouped into four pairs according to the four representative directions, i.e. horizontal, vertical, and two diagonal directions. The four pairs of contour pixels are then combined via a bilateral filtering framework in which the filter coefficients are obtained by considering the photometric distance between the two depth pixels in each pair and the geometric distance between the hole pixel and the contour pixels. The experimental results demonstrate that the proposed algorithm e ectively recovers depth edges disconnected by the hole region.
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Seung-Won Jung, Seung-Won Jung, "A bilateral hole filling algorithm for time-of-flight depth camera", Proc. SPIE 8666, Visual Information Processing and Communication IV, 86660K (21 February 2013); doi: 10.1117/12.2003225; https://doi.org/10.1117/12.2003225

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