Joint denoising and interpolation of depth maps for MS Kinect sensors

Infrared structured light sensors are widely employed for control applications, gaming, acquisition of dynamic and static 3D scenes. Recent developments have lead to the availability on the market of low-cost sensors which prove to be extremely sensitive to noise, light conditions, materials, the surface nature of the objects, and their distance from the camera. As a matter of fact, accurate denoising and interpolation strategies are needed. The paper presents a quality enhancement strategy for depth maps targeting low-cost IR structured light sensors. The approach has been tested using the MS Xbox Kinect device in both indoor and outdoor scenarios under different light conditions.