A non-transitory computer-readable medium having instructions that, when executed by a control circuit of a computing system, causes the control circuit:
- to receive a first depth map, wherein the first depth map is received from the non-transitory computer-readable medium of the computing system, or via a communication interface of the computing system, wherein the communication interface is configured to communicate with a first depth-sensing camera that has a first camera field of view, and wherein the first depth map is generated based on information sensed by the first depth-sensing camera with which the communication interface is configured to communicate, and wherein the first depth map includes a first set of pixels that represent a first set of respective physical locations in the first camera field of view and that indicate a first set of respective depth values for the first set of respective physical locations, wherein the first set of respective depth values represent depth relative to the first depth-sensing camera;
- to receive a second depth map, wherein the second depth map is received from the non-transitory computer-readable medium of the computing system, or via the communication interface of the computing system, wherein the communication interface is configured to communicate with a second depth-sensing camera that has a second camera field of view which overlaps with the first camera field of view, and wherein the second depth map is generated based on information sensed by the second depth-sensing camera with which the communication interface is configured to communicate, wherein the second depth map includes a second set of pixels that represent a second set of respective physical locations in the second camera field of view and that indicate a second set of respective depth values for the second set of respective physical locations, wherein the second set of respective depth values represent depth relative to the second depth-sensing camera, wherein the first depth map has a first resolution higher than a second resolution of the second depth map;
- and
- to update the first depth map by assigning to a set of empty pixels within a region of multiple pixels in the first depth map, a single depth value that is based on a depth value of a corresponding pixel of the second depth map, such that the set of empty pixels within the region are converted from having no depth value to being a set of updated pixels that are filled with the single depth value, wherein the region has a size which is equal to a ratio between the first resolution and the second resolution.