Method for filling missing disparity values of pixels comprised in an image

Abstract

A method is described for processing data retrieved from two image capturing sensors, by filling missing disparity values of pixels included in holes comprised in the retrieved data. The method comprises: retrieving data by the two image capturing sensors, wherein the retrieved data includes data that relates to at least one pixel for which no disparity related information is provided; arranging the retrieved data in a form of a raster that comprises a plurality of disparity values representing the retrieved data, arranged in rows and columns; identifying boundary pixels included in the retrieved data, wherein the boundary pixels are pixels adjacent to the pixel for which no information is provided; determining which of the holes, should be filled; inserting disparity values of the boundary pixels surrounding holes that should be filled, into a queue implemented in a linear array; repeatedly extracting a pixel from the queue, obtaining its disparity value by interpolating disparity values of its adjacent and remote neighbors, and inserting all its adjacent neighboring pixels for which no disparity values have been provided, into the queue; and adding to the data retrieved, disparity values for all pixels having originally missing values.