Super-resolution of interpolated downsampled semi-dense depth map

We study depth map reconstruction for a specific task of fast rough depth approximation having sparse depth samples obtained from low-cost depth sensors or SLAM algorithms. We propose a model interpolating downsampled semi-dense depth values and then processing super-resolution. We study our method in comparison with the state-of-the-art approaches transferring RGB information to depth. It appears that the proposed approach can be used to approximately estimate high-resolution depth maps.