Large-area depth recovery for RGB-D camera

In this paper, a large-area depth recovery method for RGB-D camera is proposed. Considering that pixels along edges between different regions usually share similar depth values, we first select reliable pixels along edges of large-area depth missing regions and project them into the world coordinate system. Then, by examining the distribution of these pixels, we apply a weighted least squares method to approximate the surface function. With the help of the surface function, missing depth values can be recovered correctly. To the best of our knowledge, this is the first recovery method focusing on large areas of missing depth information. Qualitative evaluation demonstrates the effectiveness of the proposed method.