A method of hole-filling for the depth map generated by Kinect with moving objects detection

We propose a method for filtering the occlusion areas and small holes on the depth map generated by the Kinect depth camera. This approach uses the original RGB image provided by the conventional Kinect camera and the depth map. We extract the moving body using the original image and the background differentials, then applying a 4-neighbor-pixels-interpolation to the none-body areas before filling the body areas. The proposed method can fill the occlusion areas effectively and remain the details of edges accurately, which can be used as a preprocessing stage before using the depth data of Kinect.