Abstract: A computer implemented method of estimating depth for an image and relative camera poses between images in a video sequence, includes backwards warping the source image to generate a first reconstructed target image, and calculating an initial image reconstruction loss based on the target image and the first reconstructed target image. Forward warping the source depth map is performed to generate a second reconstructed target depth map, and an occlusion mask is generated based on the second reconstructed target depth map. The method further includes regularising the initial image reconstruction loss based on the generated occlusion mask. Thus, an occlusion aware method of image reconstruction is provided via a combination of forward and backward warping which identifies and masks occluded areas, and regularizes the image reconstruction loss.

Abstract: An image processing system configured to receive an input time-of-flight depth map representing the distance of objects in an image from a camera at a plurality of locations of pixels in the respective image, and in dependence on that map to generate an improved time-of-flight depth map for the image, the input time-of-flight depth map having been generated from at least one correlation image representing the overlap between emitted and reflected light signals at the plurality of locations of pixels at a given phase shift, the system being configured to generate the improved time-of-flight depth map from the input time-of-flight depth map in dependence on a colour representation of the respective image and at least one correlation image.