Algorithm 1 Depth recovery by asynchronous cellular automata.
Input: color image: $I_c\ni \overrightarrow{C}$; depth image: $I_d\ni d$;
Output: enhanced depth image: $I_d\ni d$;
Initialize: condition flag: $k\leftarrow true$;
1:	for $\forall p\in P$ do
2:	for $\forall q\in N\left(P\right)$ do
3:	${\overrightarrow{NDM}}_{p,q}\leftarrow g({∥\overrightarrow{C_p}-\overrightarrow{C_q}∥}_2)$;
4:	end for
5:	end for
6:	for $\forall p\in P$ do
7:	if $d_p\ne 0$ then
8:	${\theta }_p\leftarrow 1$;
9:	$b_p\leftarrow true$;
10:	else
11:	${\theta }_p\leftarrow 0$;
12:	$b_p\leftarrow false$;
13:	end if
14:	end for
15:	while $k=true$ do
16:	$k\leftarrow false$;
17:	for $\forall p\in P$ do
18:	if $b_p\ne true$ then
19:	for $\forall q\in N\left(p\right)$ do
20:	if ${\overrightarrow{NDM}}_{p,q}·{\theta }_q>{\theta }_p$ then
21:	$d_p\leftarrow d_q$;
22:	${\theta }_p\leftarrow {\overrightarrow{NDM}}_{p,q}·{\theta }_q$;
23:	$k\leftarrow true$;
24:	end if
25:	end for
26:	end if
27:	end for
28:	end while