Kinect depth inpainting in real time

摘要

RGBD cameras are used in many fields, such as monitoring, robot navigation and assistive solutions for visually impaired people. The advance in technology led to the development of cheap and easy to use cameras, such as Kinect, that gained a lot of popularity. One of the technologies that allow the capturing of depth maps, the D component in RGBD sequences, is structured light. The main drawback of this technology is the noise introduced during the acquisition process and the missing values for many pixels in the depth map. This paper presents several new depth inpainting algorithms and their results. The algorithms improve depth signal significantly and can be used as a pre-processing step for segmentation or reconstruction of RGBD images based on depth maps.