Time-of-Flight sensor calibration for accurate range sensing

► Discussion of TOF-camera related error sources. ► Decoupled calibration model for intensity-related distance deviations. ► Combined calibration model for intrinsic, distance and intensity calibration. Over the past years Time-of-Flight (ToF) sensors have become a considerable alternative to conven...

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Veröffentlicht in:Computer vision and image understanding 2010-12, Vol.114 (12), p.1318-1328
Hauptverfasser: Lindner, Marvin, Schiller, Ingo, Kolb, Andreas, Koch, Reinhard
Format: Artikel
Sprache:eng
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Zusammenfassung:► Discussion of TOF-camera related error sources. ► Decoupled calibration model for intensity-related distance deviations. ► Combined calibration model for intrinsic, distance and intensity calibration. Over the past years Time-of-Flight (ToF) sensors have become a considerable alternative to conventional distance sensing techniques like laser scanners or image based stereo-vision. Due to the ability to provide full-range distance information at high frame-rates, ToF sensors achieve a significant impact onto current research areas like online object recognition, collision prevention or scene and object reconstruction. Nevertheless, ToF-cameras like the Photonic Mixer Device (PMD) still exhibit a number of error sources that affect the accuracy of measured distance information. For this reason, major error sources for ToF-cameras will be discussed, along with a new calibration approach that combines intrinsic, distance as well as a reflectivity related error calibration in an overall, easy to use system and thus significantly reduces the number of necessary reference images. The main contribution, in this context, is a new intensity-based calibration model that requires less input data compared to other models and thus significantly contributes to the reduction of calibration data.
ISSN:1077-3142
1090-235X
DOI:10.1016/j.cviu.2009.11.002