  This paper presents a vision system and a depth processing algorithm for
DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to
reliably capture 3D information of a scene and objects robust to challenging
environment conditions. We also propose a depth-map upsampling method that
produces an outliers-free depth map by explicitly handling depth outliers. Our
system is suitable for an interactive robot with real-world that requires
accurate object detection and pose estimation. We evaluate our depth processing
algorithm over state-of-the-art algorithms on several synthetic and real-world
datasets.
