V. Castaneda, D. Mateus, N. Navab Stereo Time-of-Flight IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib)
	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.
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