An enhanced depth estimation system using RGB-D cameras and gyroscopes

In this paper, we present an efficient method to accelerate the depth estimation for the RGB-D camera. Our approach can obtain more depth information and extend the measurement range in two steps. First, we estimate the depth of positions that are too far away and irrelevant to any objects or plans using the color camera and a gyroscope. To adapt to any situations and angels, we use a virtual plane that can be changed by the gyroscope. Second, our method extends the depth of unknown points to increase the measurement range that reconstructs the 3D model and makes it better than the original. Our work takes a new view of 3D reconstruction, and it can be used widely by people without any professional tools. The result shows that the proposed approach is more accurate and robust than the previous work in various environments.