title: Temporal and Spatial Denoising of Depth Maps.
abstract: This work presents a procedure for refining depth maps acquired using RGB-D (depth) cameras. With numerous new structured-light RGB-D cameras, acquiring high-resolution depth maps has become easy. However, there are problems such as undesired occlusion, inaccurate depth values, and temporal variation of pixel values when using these cameras. In this paper, a proposed method based on an exemplar-based inpainting method is proposed to remove artefacts in depth maps obtained using RGB-D cameras. Exemplar-based inpainting has been used to repair an object-removed image. The concept underlying this inpainting method is similar to that underlying the procedure for padding the occlusions in the depth data obtained using RGB-D cameras. Therefore, our proposed method enhances and modifies the inpainting method for application in and the refinement of RGB-D depth data image quality. For evaluating the experimental results of the proposed method, our proposed method was tested on the Tsukuba Stereo Dataset, which contains a 3D video with the ground truths of depth maps, occlusion maps, RGB images, the peak signal-to-noise ratio, and the computational time as the evaluation metrics. Moreover, a set of self-recorded RGB-D depth maps and their refined versions are presented to show the effectiveness of the proposed method.
authors.affiliation: Department of Computer Science and Information Engineering, National Taipei University, New Taipei City 23741, Taiwan. bslin@mail.ntpu.edu.tw.
authors.forename: Bor-Shing
authors.initials: BS
authors.lastname: Lin
authors.affiliation: Department of Biomedical Engineering, Yuanpei University of Medical Technology, Hsinchu 30015, Taiwan. merri1024@gmail.com.
authors.forename: Mei-Ju
authors.initials: MJ
authors.lastname: Su
authors.affiliation: Department of Software Engineering and Management, National Kaohsiung Normal University, Kaohsiung 82444, Taiwan. cph@nknu.edu.tw.
authors.forename: Po-Hsun
authors.initials: PH
authors.lastname: Cheng
authors.affiliation: Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan. r01943155@ntu.edu.tw.
authors.forename: Po-Jui
authors.initials: PJ
authors.lastname: Tseng
authors.affiliation: Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan. csj@ntu.edu.tw.
authors.forename: Sao-Jie
authors.initials: SJ
authors.lastname: Chen
mesh_terms: D000465:Algorithms; D019992:Databases as Topic; D021621:Imaging, Three-Dimensional; D010363:Pattern Recognition, Automated / Q000379:methods*; D059629:Signal-To-Noise Ratio; D013997:Time Factors
keywords: RGB-D sensor; depth image; hole padding; spatial-temporal denoising