Time-of-Flight sensor calibration for accurate range sensing
Time-of-Flight sensor calibration for accurate range sensing
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DOI：
10.1016/j.cviu.2009.11.002
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发表时间：
2010-12-01
影响因子：
4.5
通讯作者：
Koch, Reinhard
中科院分区：
文献类型：
--
作者：
Lindner, Marvin;Schiller, Ingo;Koch, Reinhard
在过去的几年里，飞行时间（ToF）传感器已经成为传统距离传感技术（如激光扫描仪或基于图像的立体视觉）的重要替代品。由于能够以高帧率提供全范围距离信息，ToF传感器对当前的研究领域产生了重大影响，如在线对象识别、碰撞预防或场景和对象重建。像光子混合器设备（PMD）这样的相机仍然表现出许多影响测量距离信息的准确性的误差源。将沿着讨论一种新的校准方法，该方法将内在距离以及反射率相关的误差校准结合在一个整体易于使用的系统中，减少了必要的参考图像的数量在这方面的主要贡献是一个新的基于强度的校准模型，与其他模型相比，它需要更少的输入数据，因此大大有助于减少校准数据（C）2010 Elsevier Inc.
Over the past years Time-of-Flight (ToF) sensors have become a considerable alternative to conventional distance sensing techniques like laser scanners or image based stereo-vision Due to the ability to provide full-range distance information at high frame-rates ToF sensors achieve a significant Impact onto current research areas like online object recognition collision prevention or scene and object reconstruction Nevertheless ToF-cameras like the Photonic Mixer Device (PMD) still exhibit a number of error sources that affect the accuracy of measured distance information For this reason major error sources for ToF-cameras will be discussed along with a new calibration approach that combines intrinsic distance as well as a reflectivity related error calibration in an overall easy to use system and thus significantly reduces the number of necessary reference Images The main contribution in this context is a new intensity-based calibration model that requires less input data compared to other models and thus significantly contributes to the reduction of calibration data (C) 2010 Elsevier Inc All rights reserved