A Bilateral Hole Filling Algorithm for Time-of-Flight Depth Camera

摘要

In this paper, we present a simple but effective hole filling algorithm for depth images acquired by time-of-flight (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 effectively recovers depth edges disconnected by the hole region.