Joint-adaptive bilateral depth map upsampling

•We present a new depth upsampler in which an upsampled depth map is computed at each pixel as the average of neighboring pixels, weighted by a color and depth intensity filter.•The proposed method features two parameters, an adaptive smoothing parameter and a control parameter.•The adaptive smoothing parameter is determined based on the ratio between a depth map and its corresponding color image.•The control parameter assigns a larger weighting factor to pixels in the object to which a missing pixel belongs.•In a comparison with five existing upsamplers, the proposed method outperforms all five in terms of both objective and subjective quality.

In this paper, we present a new depth upsampler in which an upsampled depth map is computed at each pixel as the average of neighboring pixels, weighted by color and depth intensity filters. The proposed method features two parameters, an adaptive smoothing parameter and a control parameter. The adaptive smoothing parameter is determined based on the ratio between a depth map and its corresponding color image. The adaptive smoothing parameter is used to control the dynamic range of the color-range filter. The control parameter assigns a larger weighting factor to pixels in the object to which a missing pixel belongs. In a comparison with five existing upsamplers, the proposed method outperforms all five in terms of both objective and subjective quality.