Depth from time of flight camera

A computing system comprising:

• an input/output controller arranged to receive at least one originally captured image depicting one or more objects in an environment of a time of flight camera for a single frame by the time of flight camera;
• a region detector trained using training data comprising other originally captured time of flight images, the other originally captured time of flight images having labeled regions of interest, the region detector arranged to compute from the at least one originally captured image one or more regions of interest in the at least one originally captured image, a region of interest comprising image elements which are predicted, based at least in part on regions of interest in earlier frames, to depict at least part of the one or more objects;
• and
• a depth map computation logic arranged to compute depth from the one or more regions of interest of the at least one originally captured image.

A computer-storage medium storing instructions which when executed by a computing device control the device to:

• receive at least one originally captured image depicting one or more objects in an environment of a time of flight camera captured for a single frame by the time of flight camera;
• send the at least one originally captured image to a trained region detector, having been trained, using training data comprising other originally captured time of flight images, the other originally captured time of flight images having labeled regions of interest, to learn associations between image elements of the other originally captured time of flight images and regions of interest, and receive in response one or more regions of interest in the at least one originally captured image, a region of interest comprising image elements which are predicted, based at least in part on regions of interest in earlier frames, to depict at least part of the one or more objects;
• and
• compute depth from the one or more regions of interest of the at least originally captured image.