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Depth image denoising is increasingly becoming the hot research topic nowadays, because it reflects the three-dimensional scene and can be applied in various fields of computer vision. But the depth images obtained from depth camera usually contain stains such as noise, which greatly impairs the performance of depth-related applications. In this article, considering that group-based image restoration methods are more effective in gathering the similarity among patches, a group-based nuclear norm and learning graph (GNNLG) model was proposed. For each patch, we find and group the most similar patches within a searching window. The intrinsic low-rank property of the grouped patches is exploited in our model. In addition, we studied the manifold learning method and devised an effective optimized learning strategy to obtain the graph Laplacian matrix, which reflects the topological structure of image, to further impose the smoothing priors to the denoised depth image. To achieve fast speed and high convergence, the alternating direction method of multipliers is proposed to solve our GNNLG. The experimental results show that the proposed method is superior to other current state-of-the-art denoising methods in both subjective and objective criterion.

Depth Image Denoising Using Nuclear Norm and Learning Graph Model