Image assisted upsampling of depth map via nonlocal similarity

The depth resolution of TOF cameras is poor and the resulting depth maps are noisy. Therefore, it is highly desirable to develop powerful image processing tools to enhance the resolution and suppress the noise of depth maps. In this paper, we propose a new image-assisted upsampling method for depth map. A spatially adaptive iterative singular-value thresholding (SAIST) with image-guided patch clustering strategy is developed and compared with previous image-guided depth map upsampling techniques. Overall, the proposed scheme is capable of better preserving salient global structure information. Extensive experimental results are reported to justify the superiority of the proposed method.