A PMD (photonic mixer device) camera is a three-dimensional imaging system based on the TOF (time-of-flight) technology.While obtaining the two-dimensional gray image

this camera can capture a range image and an amplitude image at the same time.However

the main drawbacks of the camera are the low resolution and random noise.According to this problem

we combine the amplitude information of the PMD camera and a bilateral filter.An improved discontinuity adaptive Markov random field (DAMRF) model is introduced by a combination of super-resolution reconstruction methods

which introduces the square of the modulating signal amplitude as confidence.Then this method will use it as the weight to carry on an adaptive weight for the distance items of the energy function of the traditional DAMRF model

so it increases the weights of the range image pixel in the process of smoothing.This method not only increases the spatial resolution of the range images

but also effectively filters and de-noises the range image.At the same time

it enhances the marginal information of the range image

and better maintains the continuity of the image edges.The experimental results demonstrate that the reconstruction result of this method is superior to that of the traditional DAMRF model.The method obtains a better improvement in the reconstructed image signal to noise ratio (SNR) and root mean square error (RMSE)

and improves the visual effects of the reconstructed image.