Fusion of median and bilateral filtering for range image upsampling

Qingxiong Yang, Narendra Ahuja, Ruigang Yang, Kar Han Tan, James Davis, Bruce Culbertson, John Apostolopoulos, Gang Wang

Research output: Contribution to journalArticlepeer-review


We present a new upsampling method to enhance the spatial resolution of depth images. Given a low-resolution depth image from an active depth sensor and a potentially high-resolution color image from a passive RGB camera, we formulate it as an adaptive cost aggregation problem and solve it using the bilateral filter. The formulation synergistically combines the median and bilateral filters thus it better preserves the depth edges and is more robust to noise. Numerical and visual evaluations on a total of 37 Middlebury data sets demonstrate the effectiveness of our method. A real-time high-resolution depth capturing system is also developed using commercial active depth sensor based on the proposed upsampling method.

Original languageEnglish (US)
Article number6582517
Pages (from-to)4841-4852
Number of pages12
JournalIEEE Transactions on Image Processing
Issue number12
StatePublished - 2013


  • GPU
  • Sensor fusion
  • bilateral filter
  • weighted median filter

ASJC Scopus subject areas

  • Software
  • Computer Graphics and Computer-Aided Design


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