Patent Document ID: 9805294
Application ID: 14620610
Patent Status: 1

Claim One:
1. A method for denoising an image, wherein the image is a time-of-flight (ToF) range image, wherein the image includes a 2D grid of pixels, comprising steps of: determining locations of edges, and a confidence value of each pixel; determining, geodesic distances of neighboring pixels, wherein the geodesic distances are determined using a binary edge map, wherein a geodesic distance between two neighboring pixels is set to a constant when the two neighboring pixels are not on different sides of an edge of the binary edge map, otherwise, the geodesic distance is set to ∞ infinity; determining, based on the confidence values, reliabilities of the neighboring pixels; and reducing scene dependent noise using a filter, wherein the filter uses the geodesic distances and the reliabilities of the neighboring pixels, wherein the ToF range image is acquired by a ToF range camera, and the steps are performed in a processor.