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A growing number of applications depend on accurate and fast 3D scene analysis. Examples are model and lightfield acquisition, collision prevention, mixed reality and gesture recognition. The estimation of a range map by image analysis or laser scan techniques is still a time-consuming and expensive part of such systems. A lower-priced, fast and robust alternative for distance measurements are time-of-flight (ToF) cameras. Recently, significant advances have been made in producing low-cost and compact ToF devices, which have the potential to revolutionize many fields of research, including computer graphics, computer vision and human machine interaction (HMI).These technologies are starting to have an impact on research and commercial applications. The upcoming generation of ToF sensors, however, will be even more powerful and will have the potential to become 'ubiquitous real-time geometry devices' for gaming, web-conferencing, and numerous other applications. This paper gives an account of recent developments in ToF technology and discusses the current state of the integration of this technology into various graphics-related applications.

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In this paper we deal with the camera pose estimation problem from a set of 2D/3D line correspondences, which is also known as PnL (Perspective-n-Line) problem. We carry out our study by comparing PnL with the well-studied PnP (Perspective-n-Point) problem, and our contributions are three-fold: (1) We provide a complete 3D configuration analysis for P3L, which includes the well-known P3P problem as well as several existing analyses as special cases. (2) By exploring the similarity between PnL and PnP, we propose a new subset-based PnL approach as well as a series of linear-formulation-based PnL approaches inspired by their PnP counterparts. (3) The proposed linear-formulation-based methods can be easily extended to deal with the line and point features simultaneously.

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