Explicit measurement on depth-color inconsistency for depth completion
Color-guided depth completion is to refine depth map through structure light sensing by filling missing depth structure and de-nosing. It is based on the assumption that depth discontinuity and color edge at the corresponding location are consistent. Among all proposed methods, MRF-based method including its variants is one of major approaches. However, the assumption above is not always true, which causes texture-copy and depth discontinuity blurring artifacts. The state-of-the-art solutions usually are to modify the weighting inside smoothness term of MRF model. Because there is no any method explicitly considering the inconsistency occurring between depth discontinuity and the corresponding color edge, they cannot adaptively control the effect of guidance from color image when completing depth map. In this paper, we propose quantitative measurement on such inconsistency and explicitly embed it into weighting value of smoothness term. The proposed method is evaluated on NYU Kinect datasets and demonstrates promising results.