Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (6): 184-190.DOI: 10.3778/j.issn.1002-8331.1912-0463

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Research on Depth Map Restoration Algorithm Based on Hierarchical Joint Bilateral Filter

WAN Qin, ZHU Xiaolin, CHEN Guoquan, XIAO Yueping   

  1. 1.College of Electrical & Information Engineering, Hunan Institute of Engineering, Xiangtan, Hunan 411104, China
    2.National Engineering Research Laboratory for Robot Vision Perception and Control, Hunan University, Changsha 410082, China
  • Online:2021-03-15 Published:2021-03-12



  1. 1.湖南工程学院 电气与信息工程学院,湖南 湘潭 411104
    2.湖南大学 机器人视觉感知与控制技术国家工程实验室,长沙 410082


The depth map captured by RGB-D sensor usually has low resolution and lack of depth value, but three-dimensional multi-target detection and recognition need to obtain high-precision and high-resolution depth maps. This paper proposes a hierarchical joint bilateral filtering depth map restoration algorithm based on depth confidence. The depth degradation model based on the problem of the depth information capture device is proposed. The depth confidence measurement is used to classify the depth pixels, and the filter window weight value is determined according to the depth confidence. The hierarchical joint bilateral filtering is used to complete the restoration of hole region. The qualitative comparison and quantitative result analysis based on Middlebury standard database and the proposed database show that the edge of depth map is more clear and reasonable, and there is no edge blur and texture artifacts basically. Therefore, the experimental results show that the proposed algorithm can improve the accuracy of depth map restoration effectively.

Key words: RGB-D, depth restoration, depth confidence, hierarchical joint bilateral filtering



关键词: RGB-D, 深度修复, 深度置信度, 分层联合双边滤波