A Physical Model of Time-of-Flight 3D Imaging Systems, Including Suppression of Ambient Light

Authors:
Mirko Schmidt;Bernd Jähne
Affiliations:
Heidelberg Collaboratory for Image Processing (HCI), Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Heidelberg, Germany 69115;Heidelberg Collaboratory for Image Processing (HCI), Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Heidelberg, Germany 69115
Venue:
Dyn3D '09 Proceedings of the DAGM 2009 Workshop on Dynamic 3D Imaging
Year:
2009

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Abstract

We have developed a physical model of continuous-wave Time-of-Flight cameras, which focuses on a realistic reproduction of the sensor data. The derived simulation gives the ability to simulate data acquired by a ToF system with low computational effort. The model is able to use an arbitrary optical excitation and to simulate the sampling of a target response by a two-tap sensor, which can use any switching function. Nonlinear photo response and pixel saturation, as well as spatial variations from pixel to pixel like photo response non-uniformity (PRNU) and dark signal non-uniformity (DSNU) can be modeled. Also the influence of interfering background light and on-sensor suppression of ambient light can be simulated. The model was verified by analyzing two scenarios: The cameras response to an increasing, homogeneous irradiation as well as the systematic phase deviation caused by higher harmonics of the optical excitation. In both scenarios the model gave a precise reproduction of the observed data.