Systems and methods for hybrid depth regularization

A depth sensing system, comprising:

• a plurality of cameras;
• a processor;
• a memory containing an image processing application;
• wherein the image processing application directs the processor to:
• obtain image data for a plurality of images from multiple viewpoints using the plurality of cameras, wherein the image data for the plurality of images comprises a reference image and at least one alternate view image;
• identify flat regions in the reference image;
• generate initial depth estimates for pixels within the flat regions using the image data for the reference image and the image data for the at least one alternate view image using semi-global matching;
• generate a confidence map describing reliability of the generated depth estimates;
• and
• generate a regularized depth map by:
• generating secondary depth estimates for pixels using the confidence map;
• and
• computing a composite depth map based upon the initial depth estimates and the secondary depth estimates.