Analysis of Errors in ToF Range Imaging With Dual-Frequency Modulation

Jongenelen, Adrian P.P.; Bailey, Donald G.; Payne, Andrew D.; Dorrington, Adrian A.; Carnegie, Dale A.

doi:10.1109/tim.2010.2089190

Cited by 48 publications

(34 citation statements)

References 10 publications

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“…This is because Q (z)| z=u k = 0 (see (12)). Hence the null space of the polynomial contains the decoupled phase information for the different paths.…”

Section: Closed Form Solution For Retrievingmentioning

confidence: 99%

Resolving multipath interference in Kinect: An inverse problem approach

Bhandari

Feigin

Izadi

et al. 2014

IEEE SENSORS 2014 Proceedings

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Multipath interference (MPI) is one of the major sources of both depth and amplitude measurement errors in Time-of-Flight (ToF) cameras. This problem has seen a lot of attention recently. In this work, we discuss the MPI problem within the framework spectral estimation theory and multifrequency measurements. As compared to previous approaches that consider up to two interfering paths, our model considers the general case of K-interfering paths. In the theoretical setting, we show that for the case of K-interfering paths of light, 2K + 1 frequency measurements suffice to recover the depth and amplitude values corresponding to each of the K optical paths. What singles out our method is the that our algorithm is non-iterative in implementation. This leads to a closed-form solution which is computationally attractive. Also, for the first time, we demonstrate the effectiveness of our model on an offthe-shelf Microsoft Kinect for the X-Box one.

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“…This is because Q (z)| z=u k = 0 (see (12)). Hence the null space of the polynomial contains the decoupled phase information for the different paths.…”

Section: Closed Form Solution For Retrievingmentioning

confidence: 99%

Resolving multipath interference in Kinect: An inverse problem approach

Bhandari

Feigin

Izadi

et al. 2014

IEEE SENSORS 2014 Proceedings

View full text Add to dashboard Cite

show abstract

“…Sub-centimetre acquisition requires sampling at rates of 0.1 Hz or lower. Range disambiguation has been implemented [16,17] with little loss of precision. The field of view of the system is limited only by the optical hardware.…”

Section: Resultsmentioning

confidence: 99%

“…Parallel work by the authors (for example [15,17]) provided a theoretical framework to select optimum frequencies within the achievable system bandwidth.…”

mentioning

confidence: 99%

Design and Construction of a Configurable Full-Field Range Imaging System for Mobile Robotic Applications

Carnegie

McClymont

Jongenelen

et al. 2011

Lecture Notes in Electrical Engineering

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Mobile robotic devices rely critically on extrospection sensors to determine the range to objects in the robot's operating environment. This provides the robot with the ability both to navigate safely around obstacles and to map its environment and hence facilitate path planning and navigation. There is a requirement for a full-field range imaging system that can determine the range to any obstacle in a camera lens' field of view accurately and in real-time. This paper details the development of a portable full-field ranging system whose bench-top version has demonstrated submillimetre precision. However, this precision required non-real-time acquisition rates and expensive hardware. By iterative replacement of components, a portable, modular and inexpensive version of this full-field ranger has been constructed, capable of real-time operation with some (user-defined) trade-off with precision.

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“…Research has shown that, by taking two measurements at different modulation frequencies, the unambiguous range can be extended without compromising distance precision. In [10], an efficient method for combining the two distance measurements obtained using different modulation frequencies are presented and the behavior of the method in the presence of noise has been investigated to determine the expected error rate.…”

Section: Introductionmentioning

confidence: 99%

Modulation Method Including Noise Model for Minimizing the Wiggling Error of TOF Cameras

Hußmann

Knöll

Edeler

2014

IEEE Trans. Instrum. Meas.

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Registered depth and intensity data at a high frame rate, a compact design, low weight, and a reduced power consumption have motivated the increasing usage of lock-in time-of-flight (TOF) cameras in research areas such as computer graphics, machine vision, and robotics. The state-of-the-art practice is to use continuous wave modulation with square waves for TOF cameras. Square waves can be easily generated digitally with a high accuracy and stability using programmable logic devices. In this paper, a modulation method based on sine waves is proposed, which significantly reduces the depth distortion offset (wiggling effect) of lock-in TOF cameras. Furthermore, a model for the noise distribution in the depth image is derived. This model can predict the performance of the proposed modulation method for each pixel in real time.Index Terms-Optical distance measurement component, phase measurement, phase shift algorithm, photonic mixer devices (PMDs), time-of-flight (TOF).

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Analysis of Errors in ToF Range Imaging With Dual-Frequency Modulation

Cited by 48 publications

References 10 publications

Resolving multipath interference in Kinect: An inverse problem approach

Resolving multipath interference in Kinect: An inverse problem approach

Design and Construction of a Configurable Full-Field Range Imaging System for Mobile Robotic Applications

Modulation Method Including Noise Model for Minimizing the Wiggling Error of TOF Cameras

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