Depth completion for kinect v2 sensor

Abstract

Kinect v2 adopts a time-of-flight (ToF) depth sensing mechanism, which causes different type of depth artifacts comparing to the original Kinect v1. The goal of this paper is to propose a depth completion method, which is designed especially for the Kinect v2 depth artifacts. Observing the specific types of depth errors in the Kinect v2 such as thin hole-lines along the object boundaries and the new type of holes in the image corners, in this paper, we exploit the position information of the color edges extracted from the Kinect v2 sensor to guide the accurate hole-filling around the object boundaries. Since our approach requires a precise registration between color and depth images, we also introduce the transformation matrix which yields point-to-point correspondence with a pixel-accuracy. Experimental results demonstrate the effectiveness of the proposed depth image completion algorithm for the Kinect v2 in terms of completion accuracy and execution time.