Depth Propagation with Key-Frame Considering Movement on the Z-Axis

We propose a key-frame-based depth propagation method considering movement on the z-axis. First, a homography matrix is obtained through the feature points between points. Through this homography matrix information, a movement of objects or cameras is inferred in the direction of the z axis, thereby creating a depth map that compensates the movement. Then, bilateral filtering is executed to create a depth map with regard to the non-key frames. Through the experiment, a more accurate depth map can be obtained with the non-key-frame-based method due to the consideration of changes in the z-axis compared to the key-frame-based depth propagation method.