Detailed Modeling and Calibration of a Time-of-Flight Camera

Christoph Hertzberg, Udo Frese

2014

Abstract

In this paper we propose a physically motivated sensor model of Time-of-Flight cameras. We provide methods to calibrate our proposed model and compensate all modeled effects. This enables us to reliably detect and filter out inconsistent measurements and to record high dynamic range (HDR) images. We believe that HDR images have a significant benefit especially for mapping narrow-spaced environments as in urban search and rescue. We provide methods to invert our model in real-time and gain significantly higher precision than using the vendor-provided sensor driver. In contrast to previously published purely phenomenological calibration methods our model is physically motivated and thus better captures the structure of the different effects involved.

Paper Citation

in Harvard Style

Hertzberg C. and Frese U. (2014). Detailed Modeling and Calibration of a Time-of-Flight Camera . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 568-579. DOI: 10.5220/0005067205680579

in Bibtex Style

@conference{icinco14,
author={Christoph Hertzberg and Udo Frese},
title={Detailed Modeling and Calibration of a Time-of-Flight Camera},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={568-579},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005067205680579},
isbn={978-989-758-039-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Detailed Modeling and Calibration of a Time-of-Flight Camera
SN - 978-989-758-039-0
AU - Hertzberg C.
AU - Frese U.
PY - 2014
SP - 568
EP - 579
DO - 10.5220/0005067205680579