TOF Cameras and Stereo Systems: Comparison and Data Fusion

Time-Of-Flight range cameras and stereo vision systems (for simplicity called TOF cameras and stereo systems now on) are both depth acquisition devices capable to collect 3M information of dynamic scenes. In spite they can be used for similar tasks in many applications, it would not be appropriate to view the two systems as alternate or even competitive choices, since their characteristics and actual capability are markedly different. Indeed synergically combining together TOF cameras and stereo systems is a rather intriguing and useful option. This chapter firstly compares Time-Of-Flight range cameras and stereo vision systems, and then addresses the problem of fusing the data produced by the two systems. Because of the many aspects involved, the comparison is all but straightforward and could be certainly organized in different ways. The proposed one represents a systematic approach.

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