Depth Map Super-Resolution Based on Semi-Couple Deformable Convolution Networks

Abstract

Depth images obtained from lightweight, real-time depth estimation models and consumer-oriented sensors typically have low-resolution issues. Traditional interpolation methods for depth image up-sampling result in a significant information loss, especially in edges with discontinuous depth variations (depth discontinuities). To address this issue, this paper proposes a semi-coupled deformable convolution network (SCD-Net) based on the idea of guided depth map super-resolution (GDSR). The method employs a semi-coupled feature extraction scheme to learn unique and similar features between RGB images and depth images. We utilize a Coordinate Attention (CA) to suppress redundant information in RGB features. Finally, a deformable convolutional module is employed to restore the original resolution of the depth image. The model is tested on NYUv2, Middlebury, Lu, and a Real-Sense real-world dataset created using an Intel Real-sense D455 structured-light camera. The super-resolution accuracy of SCD-Net at multiple scales is much higher than that of traditional methods and superior to recent state-of-the-art (SOTA) models, which demonstrates the effectiveness and flexibility of our model on GDSR tasks. In particular, our method further solves the problem of an RGB texture being over-transferred in GDSR tasks.

Keywords

• depth map super-resolution
• guide image filter
• deformable convolution
• deep learning