Stereo Time-of-Flight Contact Person(s): Victor Castaneda,Diana Mateus

Keywords: Reconstruction, Computer Vision

Abstract

This paper describes a novel method to acquire depth images based on combining a pair of ToF^? (Time of Flight) cameras. As opposed to approaches that register point clouds posterior to the image acquisition, we propose to combine the measurements of the two cameras at the acquisition level. To do so, we actively control the infrared lighting of the scene such that the two cameras emit and measure the reflected infrared light first one after the other, and then simultaneously. Assuming the scene is static during these three stages and gathering the obtained depth measurements in each state, we derive a set of constraints that allow us to optimize the two depth images. In terms of hardware requirements, the cameras need to have access to the control of the infrared lights and should work with the same infrared wavelength and with exactly the same modulation frequency. A quantitative evaluation of the performance of the proposed method for different objects and setups is provided based on a simulation of the ToF^? cameras. Results on real images are also provided. In both simulation and real images the stereo-ToF acquisition is able to produce more accurate depth measurements.

Pictures

Figure 1: The 3 Stages

Figure 2: Optimization

Figure 3: Results using a pair of ToF? cameras

Videos

Video shows how the system works and include results examples

Team

Contact Person(s)

Prof. Diana Mateus

Dr. Victor Castaneda

Working Group

Prof. Diana Mateus

Prof. Dr. Nassir Navab

Dr. Victor Castaneda

Location

Technische Universität München Institut für Informatik / I16 Boltzmannstr. 3 85748 Garching bei München Tel.: +49 89 289-17058 Fax: +49 89 289-17059

Visit our lab at Garching.



internal project page

Please contact Victor Castaneda,Diana Mateus for available student projects within this research project.

Publications

2014
	V. Castaneda, D. Mateus, N. Navab Stereo Time-of-Flight with Constructive Interference IEEE Transactions on Pattern Analysis and Machine Inteligence (TPAMI) Volume 36, number 7, pages 1402-1423, 2014. (bib)
2011
	V. Castaneda, D. Mateus, N. Navab Stereo Time-of-Flight IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib)