A time-of-flight (ToF) depth camera can capture a depth map of the scene by measuring the phase delay between the emitted and reflected infrared (IR) light signals. In addition, an intensity map that represents the magnitude of the reflected light can be obtained by the ToF camera. If we consider the light source of the ToF camera as a flash, the intensity map can be deemed as an IR flashed image. Building on ideas from flash/no-flash photography and dark flash photography, we devise a color image enhancement framework that exploits information from the intensity and depth maps. To this end, ToF-related distortions of the intensity and depth maps are first reduced. We then restore fine details of color images captured under weak illumination by combining mutually beneficial information from the visible and IR band signals. In addition, we show that the depth map can be used to produce depth-adaptive effects such as depth-adaptive smoothing at the resultant color image.
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.