ToFMark - Depth Upsampling Evaluation Dataset

Welcome to the ToFMark evaluation page. This website is built to validate, compare and evaluate different depth image upsampling/superresolution algorithms. The basic principle is to use a low-resolution Time-of-Flight (ToF) depth acquisition together with a high-resolution intensity image.

Because depth and intensity data do not originate from the same sensor, these depth and intensity information are not aligned. Each ToFMark validation dataset includes:
  • a low-resolution offset corrected ToF depth and infrared image
  • a high-resolution intensity image
  • the ToF and intensity camera matrices
  • the sparse ToF depth mapped to the intensity camera system and
  • the correponding high-resolution ground-truth depth

How to cite the materials on this website

We grant permission to use and publish all images and numerical results on this website. If you report performance results, we request that you cite our paper [1]. If you want to cite this website, please use the URL "".

ToFMark - Validation Datasets

Books Dataset

download Books dataset

Shark Dataset

download Shark dataset

Devil Dataset

download Devil dataset

Matlab code for image warping from ToF to intensity image space warp_depth.m Further, the evaluation results for Nearest Neighbor, Bilinear, Bicubic, Joint Bilateral [1] Guided Image Filtering [2] can by downloaded here (ToFMark Results)


Algorithm Books



Nearest Neighbor 18.21 21.83 19.36
Bilinear 17.10 20.17 18.66
Kopf [1] 16.03 18.79 27.57
He [2] 15.74 18.21 27.04
OURS [3] 12.36 15.29 14.68

[1] J. Kopf, M. F. Cohen, D. Lischinski, and M. Uyttendaele. Joint bilateral upsampling. ACM Transactions on Graphics, 26(3), 2007.

[2] K. He, J. Sun, and X. Tang. Guided image filtering. In Proc. ECCV, 2010.

[3] D. Ferstl, C. Reinbacher, R. Ranftl, M. Ruether, and H. Bischof . Image Guided Depth Upsampling using Anisotropic Total Generalized Variation. In Proc. ICCV, 2013.


  1. Image Guided Depth Upsampling using Anisotropic Total Generalized Variation  [bib] [supp] David Ferstl, Christian Reinbacher, Rene Ranftl, Matthias Ruether, and Horst BischofIn Proceedings International Conference on Computer Vision (ICCV), IEEE, 2013