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We propose a method of filtering depth maps provided by Kinect depth camera. Filter uses output of the conventional Kinect camera along with the depth sensor to improve the temporal stability of the depth map and fill occlusion areas. To filter input depth map, the algorithm uses the information about motion and color of objects from the video. The proposed method can be applied as a preprocessing stage before using Kinect output data.
Matyunin et al. (Sun,) studied this question.