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Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps

Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps. Reporter ： 鄒嘉恆 Date ： 2009/11/17. Introduction. They provide real time depth estimates by combine stereo and Time-of-flight. Outline. Motivation Multi-sensor calibration Geometric calibration Photometric calibration

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Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps

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  1. Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps Reporter：鄒嘉恆 Date：2009/11/17

  2. Introduction • They provide real time depth estimates by combine stereo and Time-of-flight.

  3. Outline • Motivation • Multi-sensor calibration • Geometric calibration • Photometric calibration • Calibration verification • Sensor fusion • Experimental results • Conclusion

  4. Motivation • Problem: • Laser scanner are too slow for real time use. • Stereo fails on texturelessscenes. • TOF is low resolution, noisy, and poorly calibrated.

  5. Multi-sensor setup • SR3000: • 176x144 • Operational range up to 7 meters • 2 CCD stereo cameras • limit the calibration range from 1m to 1.4m

  6. Multi-sensor calibration • Geometric calibration

  7. Multi-sensor calibration • Photometric calibration

  8. Multi-sensor calibration • Calibration verification-plane experiment

  9. Multi-sensor calibration • Calibration verification-plane experiment

  10. Multi-sensor calibration • Calibration verification-plane experiment • Calibration verification-box experiment

  11. Sensor fusion • fd : the local evidence for node i • fs : a symmetric function measures the smoothness assumption about the scene • fr: the additional local evidence based on the measurement from the TOF sensor.

  12. Experimental results • Using TOF • (A)local method • (B)local method with LUT • (C)global method • (D)global method with LUT • Using stereo • (E)local method • (F)global method • (G)local fusion method • (H)global fusion method

  13. Experimental results

  14. Experimental results

  15. Conclusion • They present a simple and effective calibration method to improve the performance of time-of-flight sensors. • Their method can achieve an absolute accuracy of about 5mm over a range of one meter. • The fusion results reduce the over-all error by 50%.

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