  Depth images captured by off-the-shelf RGB-D cameras suffer from much
stronger noise than color images. In this paper, we propose a method to denoise
the depth images in RGB-D images by color-guided graph filtering. Our iterative
method contains two components: color-guided similarity graph construction, and
graph filtering on the depth signal. Implemented in graph vertex domain,
filtering is accelerated as computation only occurs among neighboring vertices.
Experimental results show that our method outperforms state-of-art depth image
denoising methods significantly both on quality and efficiency.
