Simulation of Time-of-Flight Sensors using Global Illumination
Simulation of Time-of-Flight Sensors using Global Illumination
复制标题
使用全局照明模拟飞行时间传感器
DOI：
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发表时间：
2013
期刊：
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通讯作者：
D. Kondermann
中科院分区：
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作者：
S. Meister;Rahul Nair;D. Kondermann
飞行时间 (ToF) 相机使用专用传感器和调制红外光来同时获取深度、幅度和强度图像。此类相机的深度图像存在各种误差，表现出比传统强度图像更复杂的行为。在这些误差中，多重反射或多径干扰现象给研究人员带来了最大的挑战。它是由相机和光源之间的间接光路引起的，因此取决于场景几何形状。虽然模拟数据可用于地面实况评估和白盒测试，但当前的模拟器无法模拟多径效应。我们提出的方法能够通过考虑全局照明来模拟所有与场景相关的效果。这是通过修改双向路径追踪算法来实现的，以便考虑场景中调制光的时间相关传播。此外，通过将所提出的方法与之前的硬件模拟器相结合，我们能够再现 ToF 相机中的所有效果。该系统在具有已知实时飞行时间相机响应的测试目标上以及在更复杂的房间场景上进行了定性验证。模拟器和源代码可从 http://hci.iwr.uni-heidelberg.de/Benchmarks/ 获取。类别
Time-of-Flight (ToF) cameras use specialized sensors and modulated infrared light to simultaneously obtain depth, amplitude and intensity images. Depth images from such cameras suffer from various errors which exhibit a more complex behavior than traditional intensity images. Of these errors, the phenomenon of multi-reflection or multi-path interference poses the biggest challenge to researchers. It is caused by indirect light paths between camera and light source and is therefore dependent on scene geometry. While simulated data can be used for ground truth evaluation and whitebox testing, current simulators do not model multipath effects. The method we present is capable of simulating all scene-dependant effects by taking global illumination into consideration. This is accomplished by modifying a bidirectional path tracing algorithm such that it takes the time-dependent propagation of modulated light in a scene into consideration. Furthermore, by combination of the proposed method with a previous hardware simulator we are capable of reproducing all effects in ToF cameras. The system was validated both on test targets with known real Time of Flight camera responses as well as qualitatively on a more complex room scene. The simulator as well as the source code is available at http://hci.iwr.uni-heidelberg.de/Benchmarks/ . Categories