Depth and Intensity Based Edge Detection in Time-of-Flight Images

A new approach for edge detection in Time-of-Flight (ToF) depth images is presented. Especially for depth images, accurate edge detection can facilitate many image processing tasks, but rarely any methods for ToF data exist. The proposed algorithm yields highly accurate results through combining edge information both from the intensity and depth image acquired by the imager. The applicability and advantage of the new approach is demonstrated on several recorded scenes and through ToF denoising using adaptive total variation as an application. It is shown that results improve considerably compared to another state-of-the art edge detection algorithm adapted for ToF depth images.