METHOD, SYSTEM AND APPARATUS FOR FORMING A HIGH RESOLUTION DEPTH MAP

摘要

An input depth map is received having less resolution than an image. From a window region about an image pixel of the image, pixels are selected having a substantially similar characteristic value as the image pixel. A reference depth value is determined for the image pixel from depth values in the input depth map which correspond to each of the selected pixels. Weights are determined for each pixel within the window region based on a difference between a depth value corresponding to each of the selected pixels and the determined reference depth value for the image pixel. A refined depth value is determined for the image pixel from a weighted sum of the depth values corresponding to each of the selected pixels. A high resolution depth map corresponding to the image is determined from the refined depth value.

主权项

1. A method of determining a high resolution depth map corresponding to an image of a scene, said method comprising:
receiving the image and an input depth map corresponding to the image; selecting, from a window region about an image pixel of the image, a plurality of pixels having a substantially similar characteristic value as the image pixel; determining a reference depth value for the image pixel from depth values in the input depth map which correspond to each of the selected pixels; determining weights for each pixel within the window region based at least on a difference between a depth value corresponding to each of the selected pixels and the determined reference depth value for the image pixel; determining a refined depth value for the image pixel from a weighted sum of the depth values corresponding to each of the selected pixels, said depth values being weighted in accordance with the determined weights; and determining a high resolution depth map corresponding to the image from the refined depth value.