Three-dimensional mapping with time-of-flight cameras
Journal of Field Robotics - Three-Dimensional Mapping, Part 2
Time-of-Flight sensor calibration for accurate range sensing
Computer Vision and Image Understanding
Multipath Interference Compensation in Time-of-Flight Camera Images
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Modelling and correction of multipath interference in time of flight cameras
CVPR '12 Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
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Multipath is a prominent phenomenon in Time-of-Flight camera images and distorts the measurements by several centimetres. It troubles applications that demand for high accuracy, such as robotic manipulation or mapping. This paper addresses the photometric processes that cause multipath interference. It formulates an improved multipath model and designs a compensation process in order to correct the multipath-related errors. A calibration of the ToF illumination supports the process. The proposed approach, moreover, allows to include an environment model. The positive impact of this process is demonstrated.