Robust enhancement of depth images from Kinect sensor

We propose a new method to fill missing or invalid values in depth images generated from the Kinect depth sensor. To fill the missing depth values, we use a robust least median of squares (LMedS) approach. We apply our method for telepresence environments, where Kinects are used very often for reconstructing the captured scene in 3D. We introduce a modified 1D LMedS approach for efficient traversal of consecutive image frames. Our approach solves the unstable nature of depth values in static scenes that is perceived as flickering. We obtain very good result both for static and moving objects inside a scene.