Patent ID: 8660362

Claim:
A method for improving depth information, comprising: acquiring a depth map of an environment, the depth map includes a plurality of pixels; generating a curvature map based on the depth map; identifying one or more false depth pixels of the plurality of pixels, each of the one or more false depth pixels is located within a particular distance of a depth edge of the depth map; calculating a plurality of confidence values based on the curvature map, each confidence value of the plurality of confidence values is associated with a different pixel of the plurality of pixels, the identifying one or more false depth pixels includes identifying the one or more false depth pixels based on the plurality of confidence values, the calculating a plurality of confidence values includes assigning to each confidence value of the plurality of confidence values an initial confidence value based on the curvature map and a localized image contrast; updating the one or more false depth pixels, the updating the one or more false depth pixels includes updating a particular false depth pixel of the one or more false depth pixels based on one or more neighboring pixels of the particular false depth pixel; and identifying one or more objects within the environment based on the depth map, the identifying one or more objects is performed subsequent to the updating the one or more false depth pixels.