Upsampling of low-resolution depth map with enhancing depth discontinuity regions

In this paper, we present an upsampling method of low-resolution depth maps with enhancing depth discontinuities using color segment information. After we supply the initial depth measurement considering the corresponding color segment information, we define an energy function for depth map upsampling based on the depth measurement, color values, and color segments. Then, we obtain high-resolution depth maps by by belief propagation optimization. Experimental results show that the proposed method outperforms other approaches for depth map upsampling in terms of the bad pixel rate and mean absolute error.