US Patent 10462445 Systems and methods for estimating and refining depth maps

A method for improving accuracy of depth map information derived from image data descriptive of a scene. In one embodiment Mutual Feature Map data are created based on initial disparity map data values and the image data descriptive of the scene. The Mutual Feature Map data are applied to create a series of weighting functions representing structural details that can be transferred to the first disparity values to restore degraded features or replace some of the first disparity values with values more representative of structural features present in the image data descriptive of the scene.