Multipath Interference Compensation in Time-of-Flight Camera Images

Multipath interference is inherent to the working principle of a Time-of-flight camera and can influence the measurements by several centimeters. Especially in applications that demand for high accuracy, such as object localization for robotic manipulation or ego-motion estimation of mobile robots, multipath interference is not tolerable. In this paper we formulate a multipath model in order to estimate the interference and correct the measurements. The proposed approach comprises the measured scene structure. All distracting surfaces are assumed to be Lambertian radiators and the directional interference is simulated for correction purposes. The positive impact of these corrections is experimentally demonstrated.

[1]  Andreas Kolb,et al.  Lateral and Depth Calibration of PMD-Distance Sensors , 2006, ISVC.

[2]  H. Aanaes,et al.  Environmental Effects on Measurement Uncertainties of Time-of-Flight Cameras , 2007, 2007 International Symposium on Signals, Circuits and Systems.

[3]  Stefan May,et al.  Calibration and Registration for Precise Surface Reconstruction with TOF Cameras , 2007 .

[4]  Heinz Hügli,et al.  Real-time scattering compensation for time-of-flight camera , 2007, ICVS 2007.

[5]  Gerd Hirzinger,et al.  Extrinsic and depth calibration of ToF-cameras , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[6]  Reinhard Koch,et al.  Calibration of focal length and 3D pose based on the reflectance and depth image of a planar object , 2008, Int. J. Intell. Syst. Technol. Appl..

[7]  Stefan May,et al.  Calibration and registration for precise surface reconstruction with Time-Of-Flight cameras , 2008, Int. J. Intell. Syst. Technol. Appl..

[8]  Andreas Nüchter,et al.  Robust 3D-mapping with time-of-flight cameras , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.