Modeling distance nonlinearity in ToF cameras and correction based on integration time offsets

Abstract

Time of Flight (ToF) cameras capture the depth images based on a new sensor technology allowing them to process the whole 3D scenario at once. These cameras deliver the intensity as well as the amplitude information. Due to difference in travel time of the rays reaching the sensor array, the captured distance information is affected by non linearities. In this paper, the authors propose three models (the monostatic, bistatic and optimized) for correcting the distance non linearity. The thermal characteristic of the sensor is studied in real time and analysis for integration time offsets for different reflectivity boards are carried out. The correction results are demonstrated for different reflectivity targets based on our models and analyzed integration offsets. © 2011 Springer-Verlag.