Kinect-like depth denoising

Accuracy and stability of Kinect-like depth data is limited by its generating principle. In order to serve further applications with high quality depth, the preprocessing on depth data is essential. In this paper, we analyze the characteristics of the Kinect-like depth data by examing its generation principle and propose a spatial-temporal denoising algorithm taking into account its special properties. Both the intra-frame spatial correlation and the inter-frame temporal correlation are exploited to fill the depth hole and suppress the depth noise. Moreover, a divisive normalization approach is proposed to assist the noise filtering process. The 3D rendering results of the processed depth demonstrates that the lost depth is recovered in some hole regions and the noise is suppressed with depth features preserved.