Towards generalised time-of-flight range imaging at the edge of moving objects

The multi-frame process of time-of-flight imaging is well known to be vulnerable to motion induced error. The principle behind this work is that the acquisition of multiple frames, and encoding distance by the time-of-flight of light, also encodes the motion. By explicit modelling, the image formation model is extended to describe the transverse passage of an edge over the field of view of a pixel, and a motion detection and error correction procedure is proposed. In tests the error reduction is significant, and in qualitative assessment the visible motion error is reduced.

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