Depth map upsampling with a confidence-based joint guided filter

Depth maps are often obtained simultaneously alongside color images, but their resolution is much lower than that of the respective color images. This paper proposes a confidence-based joint guided filter for depth map upsampling using corresponding color information. Many previous studies have been conducted to incorporate color images into the estimation of upsampling filter coefficients. The scheme proposed in this paper instead focuses on the order of the filter for unreliable pixel refinement, and the order is calculated using the confidence map derived from the shape of unreliable regions, depth map, and color pixel values. In terms of quantitative and qualitative measurements, the proposed method demonstrates superior performance over current state-of-the-art algorithms.