Table 3 Image denoising on depth images with NLM ,BM3D, OGLR, ADNet and our method: peformance comparisons in PSNR (Left, in dB) and SSIM (Right)

teddy

\({\sigma }=10\)

37.04dB 0.9725

40.10dB 0.9818

39.98dB 0.9833

41.98dB 0.9878

38.24dB 0.9673

\({\sigma }=20\)

33.60dB 0.9336

35.94dB 0.9674

35.94dB 0.9644

37.74dB 0.9779

34.69dB 0.9644

\({\sigma }=30\)

30.89dB 0.8842

33.16dB 0.9481

33.49dB 0.9441

35.07dB 0.9669

33.02dB 0.9486

\({\sigma }=40\)

29.04dB 0.8299

31.32dB 0.9279

31.78dB 0.9277

33.15dB 0.9539

30.91dB 0.9288

\({\sigma }=50\)

27.71dB 0.7741

29.73dB 0.9190

30.46dB 0.9049

31.50dB 0.9404

30.38dB 0.9125

wood

\({\sigma }=10\)

43.64dB 0.9870

42.21dB 0.9889

44.45dB 0.9882

43.46dB 0.9924

42.50dB 0.9701

\({\sigma }=20\)

38.39dB 0.9559

38.09dB 0.9727

40.56dB 0.9761

39.79dB 0.9862

41.09dB 0.9839

\({\sigma }=30\)

35.17dB 0.9137

35.94dB 0.9573

38.15dB 0.9600

37.82dB 0.9792

38.91dB 0.9770

\({\sigma }=40\)

32.83dB 0.8620

34.46dB 0.9420

36.57dB 0.9478

36.58dB 0.9746

37.47dB 0.9656

\({\sigma }=50\)

31.06dB 0.8159

33.28dB 0.9375

34.55dB 0.9184

35.41dB 0.9664

36.07dB 0.9512

Sawtooth

\({\sigma }=10\)

43.77dB 0.9866

44.62dB 0.9884

45.35dB 0.9911

45.61dB 0.9912

43.40dB 0.9731

\({\sigma }=20\)

38.12dB 0.9513

41.16dB 0.9787

40.96dB 0.9779

42.72dB 0.9873

41.11dB 0.9865

\({\sigma }=30\)

34.78dB 0.9032

38.72dB 0.9655

38.34dB 0.9630

40.41dB 0.9802

39.56dB 0.9762

\({\sigma }=40\)

32.69dB 0.8484

36.84dB 0.9497

36.51dB 0.9526

38.84dB 0.9747

37.29dB 0.9665

\({\sigma }=50\)

31.19dB 0.7912

35.87dB 0.9500

34.94dB 0.9334

37.34dB 0.9654

35.84dB 0.9510

Tsukuba

\({\sigma }=10\)

39.71dB 0.9724

41.52dB 0.9798

41.64dB 0.9850

41.41dB 0.9813

40.67dB 0.9701

\({\sigma }=20\)

35.53dB 0.9308

37.38dB 0.9577

37.56dB 0.9626

37.76dB 0.9667

37.28dB 0.9657

\({\sigma }=30\)

32.37dB 0.8743

34.81dB 0.9319

34.91dB 0.9403

35.58dB 0.9486

35.23dB 0.9468

\({\sigma }=40\)

30.05dB 0.8110

33.05dB 0.9053

32.99dB 0.9245

34.00dB 0.9244

33.41dB 0.9313

\({\sigma }=50\)

28.36dB 0.7497

31.67dB 0.8915

31.44dB 0.9003

32.78dB 0.9157

32.57dB 0.9133

Books

\({\sigma }=10\)

40.28dB 0.9727

40.89dB 0.9811

42.37dB 0.9828

41.83dB 0.9838

41.69dB 0.9827

\({\sigma }=20\)

36.37dB 0.9351

35.10dB 0.9519

38.26dB 0.9625

37.01dB 0.9609

37.35dB 0.9666

\({\sigma }=30\)

33.89dB 0.8887

32.61dB 0.9235

35.88dB 0.9420

34.45dB 0.9461

35.62dB 0.9491

\({\sigma }=40\)

32.18dB 0.8373

31.22dB 0.8970

34.10dB 0.9256

32.44dB 0.9260

34.28dB 0.9334

\({\sigma }=50\)

30.86dB 0.7834

29.76dB 0.8812

32.86dB 0.9050

31.11dB 0.9147

33.31dB 0.9154

Bowling

\({\sigma }=10\)

43.18dB 0.9850

41.62dB 0.9850

42.70dB 0.9867

43.09dB 0.9899

42.12dB 0.9725

\({\sigma }=20\)

38.65dB 0.9542

37.72dB 0.9682

38.84dB 0.9723

39.48dB 0.9796

39.32dB 0.9816

\({\sigma }=30\)

35.62dB 0.9126

35.30dB 0.9484

36.45dB 0.9573

37.46dB 0.9699

38.22dB 0.9732

\({\sigma }=40\)

33.32dB 0.8622

33.60dB 0.9379

34.73dB 0.9481

36.03dB 0.9624

36.27dB 0.9654

\({\sigma }=50\)

31.54dB 0.8069

32.18dB 0.9193

33.70dB 0.9330

34.37dB 0.9466

35.56dB 0.9531