Fast depth image denoising and enhancement using a deep convolutional network

We propose a depth image denoising and enhancement framework using a light convolutional network. The network contains three layers for high dimension projection, missing data completion and image reconstruction. We jointly use both depth and visual images as inputs. For the gray image, we design a pre-processing procedure to enhance the edges and remove unnecessary detail. For the depth image, we propose a data augmentation strategy to regenerate and increase essential training data. Further, we propose a weighted loss function for network training to adaptively improve the learning efficiency. We tested our algorithm on benchmark data and obtained very promising visual and quantitative results at real-time speed.