We propose a technique to in paint large missing regions in range images. Such a technique can be used to restore degraded/occluded range maps. It can also serve to reconstruct dense depth maps from sparse measurements which can speed up the acquisition. Our method uses the visual cue from segmentation of an intensity image registered to the range image. Our approach enforces that pixels in the same segment should have similar range. Our simple strategy involves plane-fitting and local medians over segments to compute local energies for labeling unknown pixels. Our results exhibit high quality in painting with very low errors.
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