Depth images super-resolution: An iterative approach

Among all the techniques for 3D acquisition, stereo vision systems are the most common. More recently, Time-of-Flight (ToF) range cameras have been introduced. They allow real-time depth estimation in conditions where stereo does not work well. Unfortunately, ToF sensors still have a limited resolution (e.g., 200 × 200 pixels). The goal of this paper is to combine the information from the ToF with one or two standard cameras, in order to obtain a highresolution depth image. To this end, we propose a new bilateral filter for depth maps up-sampling, which exploits the additional information provided by a high-resolution color image. Moreover, we present an entire framework for the super-resolution of a real ToF depth map with a single camera color image. The algorithm allows to enhance the resolution of the ToF camera depth image up to 1920 × 1080 pixels.