Patent Document ID: 9602796
Application ID: 14129157
Patent Status: 1

Claim One:
1. A computing device for improving the accuracy of depth camera images, the computing device comprising: a processor; and a memory having stored therein: a mask generation module to (i) generate a foreground mask for an image generated by a depth camera, wherein the generated image includes a depth channel and the foreground mask includes at least one foreground object of the generated image, (ii) generate a background mask for the generated image, wherein the background mask includes portions of the generated image other than the at least one foreground object, (iii) generate a binary mask including a first plurality of pixels, each pixel of the first plurality of pixels having a corresponding known depth value, (iv) expand the generated binary mask, (v), intersect the expanded binary mask with a second plurality of pixels to generate a reduced plurality of pixels, each pixel of the second plurality of pixels and the reduced plurality of pixels having an unknown depth value, (vi) apply the foreground mask to the reduced plurality of pixels to identify interior depth holes, and (vii) apply the background mask to the reduced plurality of pixels to identify exterior depth holes; and an image filling module to (i) fill at least a portion of the interior depth holes of the depth image based on depth values of areas of the depth image within a threshold distance of the corresponding portion of the interior depth holes and (ii) fill at least a portion of the exterior depth holes of the depth image based on depth values of areas of the depth image within the threshold distance of the corresponding portion of the exterior depth holes.