Upsampling the depth map with its own properties

In this paper, we present a novel method to upsample the depth map obtained by the Time-of-Flight (ToF) camera with the guidance of the companion high resolution color image. The problem is modeled with an optimization framework where we use a novel exponential function as the error norm. By using this novel error norm, our model could take the properties of the depth map itself into account. Depth discontinuity cues are obtained not only from the color image but also the depth map itself. To further enhance the performance, we perform a data driven selection of the parameter in the model to better fit the property of the depth map. Experimental results show that our method has excellent performance in smoothing the noise, preserving sharp depth discontinuities and suppressing the texture copy effect.