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Sensors 2014, 14(7), 11362-11378; doi:10.3390/s140711362

Directional Joint Bilateral Filter for Depth Images

2,*  and 1
Received: 4 May 2014 / Revised: 23 June 2014 / Accepted: 23 June 2014 / Published: 26 June 2014
(This article belongs to the Section Physical Sensors)


Depth maps taken by the low cost Kinect sensor are often noisy and incomplete. Thus, post-processing for obtaining reliable depth maps is necessary for advanced image and video applications such as object recognition and multi-view rendering. In this paper, we propose adaptive directional filters that fill the holes and suppress the noise in depth maps. Specifically, novel filters whose window shapes are adaptively adjusted based on the edge direction of the color image are presented. Experimental results show that our method yields higher quality filtered depth maps than other existing methods, especially at the edge boundaries.
Keywords: depth map; image filtering; joint bilateral filter; joint trilateral filter; Kinect depth map; image filtering; joint bilateral filter; joint trilateral filter; Kinect
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Le, A.V.; Jung, S.-W.; Won, C.S. Directional Joint Bilateral Filter for Depth Images. Sensors 2014, 14, 11362-11378.

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