Patent attributes
A system and a method are provided for repairing a depth map. The repairing includes representing pixels of the depth map using a matrix H having values corresponding to depths, the pixels including hole pixels and non-hole pixels; determining a confidence mask matrix C for the depth map; for each hole pixel, determining a kernel G of neighboring pixels, the neighboring pixels having values corresponding to a predetermined distribution, and convolving the kernel G with corresponding portions of the matrix C and the matrix H to obtain an estimated depth; generating a corrected matrix Ĥ in which values for non-hole pixels are retained and in which the hole pixels have values corresponding to their estimated depths. The estimated depths may be normalized based on the matrix C. An updated depth map based on the corrected matrix Ĥ may be outputted to a control system of a vehicle.
