diff --git a/doc/filters.texi b/doc/filters.texi
index 0d4514678c..3f4f37e786 100644
--- a/doc/filters.texi
+++ b/doc/filters.texi
@@ -6283,6 +6283,23 @@ The filter accepts the following option:
 Set the minimal luminance value. Default is @code{16}.
 @end table
 
+@section bilateral
+Apply bilateral filter, spatial smoothing while preserving edges.
+
+The filter accepts the following options:
+@table @option
+@item sigmaS
+Set sigma of gaussian function to calculate spatial weight.
+Allowed range is 0 to 1024. Default is 3.
+
+@item sigmaR
+Set sigma of gaussian function to calculate range weight.
+Allowed range is 0 to 1024. Default is 0.5
+
+@item planes
+Set planes to filter. Default is first only.
+@end table
+
 @section bitplanenoise
 
 Show and measure bit plane noise.
diff --git a/libavfilter/Makefile b/libavfilter/Makefile
index 16bb8cd965..a504a26fca 100644
--- a/libavfilter/Makefile
+++ b/libavfilter/Makefile
@@ -163,6 +163,7 @@ OBJS-$(CONFIG_AVGBLUR_OPENCL_FILTER)         += vf_avgblur_opencl.o opencl.o \
                                                 opencl/avgblur.o boxblur.o
 OBJS-$(CONFIG_BBOX_FILTER)                   += bbox.o vf_bbox.o
 OBJS-$(CONFIG_BENCH_FILTER)                  += f_bench.o
+OBJS-$(CONFIG_BILATERAL_FILTER)              += vf_bilateral.o
 OBJS-$(CONFIG_BITPLANENOISE_FILTER)          += vf_bitplanenoise.o
 OBJS-$(CONFIG_BLACKDETECT_FILTER)            += vf_blackdetect.o
 OBJS-$(CONFIG_BLACKFRAME_FILTER)             += vf_blackframe.o
diff --git a/libavfilter/allfilters.c b/libavfilter/allfilters.c
index 4f8b3039ed..56057cedef 100644
--- a/libavfilter/allfilters.c
+++ b/libavfilter/allfilters.c
@@ -154,6 +154,7 @@ extern AVFilter ff_vf_avgblur;
 extern AVFilter ff_vf_avgblur_opencl;
 extern AVFilter ff_vf_bbox;
 extern AVFilter ff_vf_bench;
+extern AVFilter ff_vf_bilateral;
 extern AVFilter ff_vf_bitplanenoise;
 extern AVFilter ff_vf_blackdetect;
 extern AVFilter ff_vf_blackframe;
diff --git a/libavfilter/vf_bilateral.c b/libavfilter/vf_bilateral.c
new file mode 100644
index 0000000000..dafb9e1d0f
--- /dev/null
+++ b/libavfilter/vf_bilateral.c
@@ -0,0 +1,372 @@
+/*
+ * Copyright (c) 2017 Ming Yang
+ * Copyright (c) 2019 Paul B Mahol
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "libavutil/imgutils.h"
+#include "libavutil/opt.h"
+#include "libavutil/pixdesc.h"
+#include "avfilter.h"
+#include "formats.h"
+#include "internal.h"
+#include "video.h"
+
+typedef struct BilateralContext {
+    const AVClass *class;
+
+    float sigmaS;
+    float sigmaR;
+    int planes;
+
+    int nb_planes;
+    int depth;
+    int planewidth[4];
+    int planeheight[4];
+
+    float range_table[65536];
+
+    float *img_out_f;
+    float *img_temp;
+    float *map_factor_a;
+    float *map_factor_b;
+    float *slice_factor_a;
+    float *slice_factor_b;
+    float *line_factor_a;
+    float *line_factor_b;
+} BilateralContext;
+
+#define OFFSET(x) offsetof(BilateralContext, x)
+#define FLAGS AV_OPT_FLAG_VIDEO_PARAM|AV_OPT_FLAG_FILTERING_PARAM
+
+static const AVOption bilateral_options[] = {
+    { "sigmaS", "set spatial sigma",    OFFSET(sigmaS), AV_OPT_TYPE_FLOAT, {.dbl=0.1}, 0.0,  10, FLAGS },
+    { "sigmaR", "set sigma range",      OFFSET(sigmaR), AV_OPT_TYPE_FLOAT, {.dbl=0.1}, 0.0,  10, FLAGS },
+    { "planes", "set planes to filter", OFFSET(planes), AV_OPT_TYPE_INT,   {.i64=1},     0, 0xF, FLAGS },
+    { NULL }
+};
+
+AVFILTER_DEFINE_CLASS(bilateral);
+
+typedef struct ThreadData {
+    int height;
+    int width;
+} ThreadData;
+
+static int query_formats(AVFilterContext *ctx)
+{
+    static const enum AVPixelFormat pix_fmts[] = {
+        AV_PIX_FMT_YUVA444P, AV_PIX_FMT_YUV444P, AV_PIX_FMT_YUV440P,
+        AV_PIX_FMT_YUVJ444P, AV_PIX_FMT_YUVJ440P,
+        AV_PIX_FMT_YUVA422P, AV_PIX_FMT_YUV422P, AV_PIX_FMT_YUVA420P, AV_PIX_FMT_YUV420P,
+        AV_PIX_FMT_YUVJ422P, AV_PIX_FMT_YUVJ420P,
+        AV_PIX_FMT_YUVJ411P, AV_PIX_FMT_YUV411P, AV_PIX_FMT_YUV410P,
+        AV_PIX_FMT_YUV420P9, AV_PIX_FMT_YUV422P9, AV_PIX_FMT_YUV444P9,
+        AV_PIX_FMT_YUV420P10, AV_PIX_FMT_YUV422P10, AV_PIX_FMT_YUV444P10,
+        AV_PIX_FMT_YUV420P12, AV_PIX_FMT_YUV422P12, AV_PIX_FMT_YUV444P12, AV_PIX_FMT_YUV440P12,
+        AV_PIX_FMT_YUV420P14, AV_PIX_FMT_YUV422P14, AV_PIX_FMT_YUV444P14,
+        AV_PIX_FMT_YUV420P16, AV_PIX_FMT_YUV422P16, AV_PIX_FMT_YUV444P16,
+        AV_PIX_FMT_YUVA420P9, AV_PIX_FMT_YUVA422P9, AV_PIX_FMT_YUVA444P9,
+        AV_PIX_FMT_YUVA420P10, AV_PIX_FMT_YUVA422P10, AV_PIX_FMT_YUVA444P10,
+        AV_PIX_FMT_YUVA420P16, AV_PIX_FMT_YUVA422P16, AV_PIX_FMT_YUVA444P16,
+        AV_PIX_FMT_GBRP, AV_PIX_FMT_GBRP9, AV_PIX_FMT_GBRP10,
+        AV_PIX_FMT_GBRP12, AV_PIX_FMT_GBRP14, AV_PIX_FMT_GBRP16,
+        AV_PIX_FMT_GBRAP, AV_PIX_FMT_GBRAP10, AV_PIX_FMT_GBRAP12, AV_PIX_FMT_GBRAP16,
+        AV_PIX_FMT_GRAY8, AV_PIX_FMT_GRAY9, AV_PIX_FMT_GRAY10, AV_PIX_FMT_GRAY12, AV_PIX_FMT_GRAY14, AV_PIX_FMT_GRAY16,
+        AV_PIX_FMT_NONE
+    };
+
+    return ff_set_common_formats(ctx, ff_make_format_list(pix_fmts));
+}
+
+static int config_input(AVFilterLink *inlink)
+{
+    BilateralContext *s = inlink->dst->priv;
+    const AVPixFmtDescriptor *desc = av_pix_fmt_desc_get(inlink->format);
+    float inv_sigma_range;
+
+    s->depth = desc->comp[0].depth;
+    inv_sigma_range = 1.0f / (s->sigmaR * ((1 << s->depth) - 1));
+
+    //compute a lookup table
+    for (int i = 0; i < (1 << s->depth); i++)
+        s->range_table[i] = expf(-i * inv_sigma_range);
+
+    s->planewidth[1] = s->planewidth[2] = AV_CEIL_RSHIFT(inlink->w, desc->log2_chroma_w);
+    s->planewidth[0] = s->planewidth[3] = inlink->w;
+    s->planeheight[1] = s->planeheight[2] = AV_CEIL_RSHIFT(inlink->h, desc->log2_chroma_h);
+    s->planeheight[0] = s->planeheight[3] = inlink->h;
+
+    s->nb_planes = av_pix_fmt_count_planes(inlink->format);
+
+    s->img_out_f = av_calloc(inlink->w * inlink->h, sizeof(float));
+    s->img_temp = av_calloc(inlink->w * inlink->h, sizeof(float));
+    s->map_factor_a = av_calloc(inlink->w * inlink->h, sizeof(float));
+    s->map_factor_b = av_calloc(inlink->w * inlink->h, sizeof(float));
+    s->slice_factor_a = av_calloc(inlink->w, sizeof(float));
+    s->slice_factor_b = av_calloc(inlink->w, sizeof(float));
+    s->line_factor_a = av_calloc(inlink->w, sizeof(float));
+    s->line_factor_b = av_calloc(inlink->w, sizeof(float));
+
+    if (!s->img_out_f ||
+        !s->img_temp ||
+        !s->map_factor_a ||
+        !s->map_factor_b ||
+        !s->slice_factor_a ||
+        !s->slice_factor_a ||
+        !s->line_factor_a ||
+        !s->line_factor_a)
+        return AVERROR(ENOMEM);
+
+    return 0;
+}
+
+#define BILATERAL(type, name)                                                           \
+static void bilateral_##name(BilateralContext *s, uint8_t *ssrc, uint8_t *ddst,         \
+                             float sigma_spatial, float sigma_range,                    \
+                             int width, int height, int src_linesize, int dst_linesize) \
+{                                                                                       \
+    type *dst = (type *)ddst;                                                           \
+    type *src = (type *)ssrc;                                                           \
+    float *img_out_f = s->img_out_f, *img_temp = s->img_temp;                           \
+    float *map_factor_a = s->map_factor_a, *map_factor_b = s->map_factor_b;             \
+    float *slice_factor_a = s->slice_factor_a, *slice_factor_b = s->slice_factor_b;     \
+    float *line_factor_a = s->line_factor_a, *line_factor_b = s->line_factor_b;         \
+    float *range_table = s->range_table;                                                \
+    float alpha = expf(-sqrtf(2.f) / (sigma_spatial * width));                          \
+    float ypr, ycr, *ycy, *ypy, *xcy, fp, fc;                                           \
+    float inv_alpha_ = 1 - alpha;                                                       \
+    float *ycf, *ypf, *xcf, *in_factor;                                                 \
+    type *tcy, *tpy;                                                                    \
+    int h1;                                                                               \
+                                                                                          \
+    for (int y = 0; y < height; y++) {                                                    \
+        float *temp_factor_x, *temp_x = &img_temp[y * width];                             \
+        type *in_x = &src[y * src_linesize];                                              \
+        type tpr, *texture_x = &src[y * src_linesize];                                    \
+                                                                                          \
+        *temp_x++ = ypr = *in_x++;                                                        \
+        tpr = *texture_x++;                                                               \
+                                                                                          \
+        temp_factor_x = &map_factor_a[y * width];                                         \
+        *temp_factor_x++ = fp = 1;                                                        \
+                                                                                          \
+        for (int x = 1; x < width; x++) {                                                 \
+            float weight, alpha_;                                                         \
+            int range_dist;                                                               \
+            type tcr = *texture_x++;                                                      \
+            type dr = abs(tcr - tpr);                                                     \
+                                                                                          \
+            range_dist = dr;                                                              \
+            weight = range_table[range_dist];                                             \
+            alpha_ = weight*alpha;                                                        \
+            *temp_x++ = ycr = inv_alpha_*(*in_x++) + alpha_*ypr;                          \
+            tpr = tcr;                                                                    \
+            ypr = ycr;                                                                    \
+            *temp_factor_x++ = fc = inv_alpha_ + alpha_ * fp;                             \
+            fp = fc;                                                                      \
+        }                                                                                 \
+        --temp_x; *temp_x = 0.5f*((*temp_x) + (*--in_x));                                 \
+        tpr = *--texture_x;                                                               \
+        ypr = *in_x;                                                                      \
+                                                                                          \
+        --temp_factor_x; *temp_factor_x = 0.5f*((*temp_factor_x) + 1);                    \
+        fp = 1;                                                                           \
+                                                                                          \
+        for (int x = width - 2; x >= 0; x--) {                                            \
+            type tcr = *--texture_x;                                                      \
+            type dr = abs(tcr - tpr);                                                     \
+            int range_dist = dr;                                                          \
+            float weight = range_table[range_dist];                                       \
+            float alpha_ = weight * alpha;                                                \
+                                                                                          \
+            ycr = inv_alpha_ * (*--in_x) + alpha_ * ypr;                                  \
+            --temp_x; *temp_x = 0.5f*((*temp_x) + ycr);                                   \
+            tpr = tcr;                                                                    \
+            ypr = ycr;                                                                    \
+                                                                                          \
+            fc = inv_alpha_ + alpha_*fp;                                                  \
+            --temp_factor_x;                                                              \
+            *temp_factor_x = 0.5f*((*temp_factor_x) + fc);                                \
+            fp = fc;                                                                      \
+        }                                                                                 \
+    }                                                                                     \
+    memcpy(img_out_f, img_temp, sizeof(float) * width);                                   \
+                                                                                          \
+    in_factor = map_factor_a;                                                             \
+    memcpy(map_factor_b, in_factor, sizeof(float) * width);                               \
+    for (int y = 1; y < height; y++) {                                                    \
+        tpy = &src[(y - 1) * src_linesize];                                               \
+        tcy = &src[y * src_linesize];                                                     \
+        xcy = &img_temp[y * width];                                                       \
+        ypy = &img_out_f[(y - 1) * width];                                                \
+        ycy = &img_out_f[y * width];                                                      \
+                                                                                          \
+        xcf = &in_factor[y * width];                                                      \
+        ypf = &map_factor_b[(y - 1) * width];                                             \
+        ycf = &map_factor_b[y * width];                                                   \
+        for (int x = 0; x < width; x++) {                                                 \
+            type dr = abs((*tcy++) - (*tpy++));                                           \
+            int range_dist = dr;                                                          \
+            float weight = range_table[range_dist];                                       \
+            float alpha_ = weight*alpha;                                                  \
+                                                                                          \
+            *ycy++ = inv_alpha_*(*xcy++) + alpha_*(*ypy++);                               \
+            *ycf++ = inv_alpha_*(*xcf++) + alpha_*(*ypf++);                               \
+        }                                                                                 \
+    }                                                                                     \
+    h1 = height - 1;                                                                      \
+    ycf = line_factor_a;                                                                  \
+    ypf = line_factor_b;                                                                  \
+    memcpy(ypf, &in_factor[h1 * width], sizeof(float) * width);                           \
+    for (int x = 0; x < width; x++)                                                       \
+        map_factor_b[h1 * width + x] = 0.5f*(map_factor_b[h1 * width + x] + ypf[x]);      \
+                                                                                          \
+    ycy = slice_factor_a;                                                                 \
+    ypy = slice_factor_b;                                                                 \
+    memcpy(ypy, &img_temp[h1 * width], sizeof(float) * width);                            \
+    for (int x = 0, k = 0; x < width; x++) {                                              \
+        int idx = h1 * width + x;                                                         \
+        img_out_f[idx] = 0.5f*(img_out_f[idx] + ypy[k++]) / map_factor_b[h1 * width + x]; \
+    }                                                                                     \
+                                                                                          \
+    for (int y = h1 - 1; y >= 0; y--) {                                                   \
+        float *ycf_, *ypf_, *factor_;                                                     \
+        float *ycy_, *ypy_, *out_;                                                        \
+                                                                                          \
+        tpy = &src[(y + 1) * src_linesize];                                               \
+        tcy = &src[y * src_linesize];                                                     \
+        xcy = &img_temp[y * width];                                                       \
+        ycy_ = ycy;                                                                       \
+        ypy_ = ypy;                                                                       \
+        out_ = &img_out_f[y * width];                                                     \
+                                                                                          \
+        xcf = &in_factor[y * width];                                                      \
+        ycf_ = ycf;                                                                       \
+        ypf_ = ypf;                                                                       \
+        factor_ = &map_factor_b[y * width];                                               \
+        for (int x = 0; x < width; x++) {                                                 \
+            type dr = abs((*tcy++) - (*tpy++));                                           \
+            int range_dist = dr;                                                          \
+            float weight = range_table[range_dist];                                       \
+            float alpha_ = weight*alpha;                                                  \
+            float ycc, fcc = inv_alpha_*(*xcf++) + alpha_*(*ypf_++);                      \
+                                                                                          \
+            *ycf_++ = fcc;                                                                \
+            *factor_ = 0.5f * (*factor_ + fcc);                                           \
+                                                                                          \
+            ycc = inv_alpha_*(*xcy++) + alpha_*(*ypy_++);                                 \
+            *ycy_++ = ycc;                                                                \
+            *out_ = 0.5f * (*out_ + ycc) / (*factor_);                                    \
+            out_++;                                                                       \
+            factor_++;                                                                    \
+        }                                                                                 \
+                                                                                          \
+        memcpy(ypy, ycy, sizeof(float) * width);                                          \
+        memcpy(ypf, ycf, sizeof(float) * width);                                          \
+    }                                                                                     \
+                                                                                          \
+    for (int i = 0; i < height; i++)                                                      \
+        for (int j = 0; j < width; j++)                                                   \
+            dst[j + i * dst_linesize] = img_out_f[i * width + j];                         \
+}
+
+BILATERAL(uint8_t, byte)
+BILATERAL(uint16_t, word)
+
+static int filter_frame(AVFilterLink *inlink, AVFrame *in)
+{
+    AVFilterContext *ctx = inlink->dst;
+    BilateralContext *s = ctx->priv;
+    AVFilterLink *outlink = ctx->outputs[0];
+    AVFrame *out;
+
+    out = ff_get_video_buffer(outlink, outlink->w, outlink->h);
+    if (!out) {
+        av_frame_free(&in);
+        return AVERROR(ENOMEM);
+    }
+    av_frame_copy_props(out, in);
+
+    for (int plane = 0; plane < s->nb_planes; plane++) {
+        if (!(s->planes & (1 << plane))) {
+            av_image_copy_plane(out->data[plane], out->linesize[plane],
+                                in->data[plane], in->linesize[plane],
+                                s->planewidth[plane] * ((s->depth + 7) / 8), s->planeheight[plane]);
+            continue;
+        }
+
+        if (s->depth <= 8)
+           bilateral_byte(s, in->data[plane], out->data[plane], s->sigmaS, s->sigmaR,
+                      s->planewidth[plane], s->planeheight[plane],
+                      in->linesize[plane], out->linesize[plane]);
+        else
+           bilateral_word(s, in->data[plane], out->data[plane], s->sigmaS, s->sigmaR,
+                      s->planewidth[plane], s->planeheight[plane],
+                      in->linesize[plane] / 2, out->linesize[plane] / 2);
+    }
+
+    av_frame_free(&in);
+    return ff_filter_frame(outlink, out);
+}
+
+static av_cold void uninit(AVFilterContext *ctx)
+{
+    BilateralContext *s = ctx->priv;
+
+    av_freep(&s->img_out_f);
+    av_freep(&s->img_temp);
+    av_freep(&s->map_factor_a);
+    av_freep(&s->map_factor_b);
+    av_freep(&s->slice_factor_a);
+    av_freep(&s->slice_factor_b);
+    av_freep(&s->line_factor_a);
+    av_freep(&s->line_factor_b);
+}
+
+static const AVFilterPad bilateral_inputs[] = {
+    {
+        .name         = "default",
+        .type         = AVMEDIA_TYPE_VIDEO,
+        .config_props = config_input,
+        .filter_frame = filter_frame,
+    },
+    { NULL }
+};
+
+static const AVFilterPad bilateral_outputs[] = {
+    {
+        .name = "default",
+        .type = AVMEDIA_TYPE_VIDEO,
+    },
+    { NULL }
+};
+
+AVFilter ff_vf_bilateral = {
+    .name          = "bilateral",
+    .description   = NULL_IF_CONFIG_SMALL("Apply Bilateral filter."),
+    .priv_size     = sizeof(BilateralContext),
+    .priv_class    = &bilateral_class,
+    .uninit        = uninit,
+    .query_formats = query_formats,
+    .inputs        = bilateral_inputs,
+    .outputs       = bilateral_outputs,
+    .flags         = AVFILTER_FLAG_SUPPORT_TIMELINE_GENERIC | AVFILTER_FLAG_SLICE_THREADS,
+};
