http://rcv.kaist.ac.kr/~jspark/projects/high_quality_depthmap_upsampling/This paper describes an application framework to perform high quality upsampling on depth maps captured from a low-resolution and noisy 3D time-of-flight (3D-ToF) camera that has been coupled with a high-resolution RGB camera. Our framework is inspired by recent work that uses nonlocal means filtering to regularize depth maps in order to maintain fine detail and structure. Our framework extends this regularization by combining the additional high-resolution RGB input when upsampling the low-resolution depth map together with a weighting scheme that also favors detailed structure. Quantitative and qualitative results show that our method outperforms existing approaches for 3D-ToF upsampling. We describe the complete process for this system, including device calibration, scene warping for input alignment, and even how the results can be further processed using simple user markup.

(Note: The first and the second authors provided equal contributions to this work.)