Image-guided ToF depth upsampling: a survey

Iván Eichhardt, Dmitry Chetverikov, Zsolt Jankó

Research output: Contribution to journalArticle

15 Citations (Scopus)


Recently, there has been remarkable growth of interest in the development and applications of time-of-flight (ToF) depth cameras. Despite the permanent improvement of their characteristics, the practical applicability of ToF cameras is still limited by low resolution and quality of depth measurements. This has motivated many researchers to combine ToF cameras with other sensors in order to enhance and upsample depth images. In this paper, we review the approaches that couple ToF depth images with high-resolution optical images. Other classes of upsampling methods are also briefly discussed. Finally, we provide an overview of performance evaluation tests presented in the related studies.

Original languageEnglish
Pages (from-to)267-282
Number of pages16
JournalMachine Vision and Applications
Issue number3-4
Publication statusPublished - May 1 2017


  • Depth images
  • Depth upsampling
  • Optical images
  • Survey
  • ToF cameras

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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