Sensor fusion f d : the local evidence for node i f s : a symmetric function measures the smoothness assumption about the scene f r : the additional local evidence based on the measurement from the TOF sensor.
Experimental results Using TOF (A)local method (B)local method with LUT (C)global method (D)global method with LUT Using stereo (E)local method (F)global method (G)local fusion method (H)global fusion method
Conclusion They present a simple and effective calibration method to improve the performance of time-of-flight sensors. Their method can achieve an absolute accuracy of about 5mm over a range of one meter. The fusion results reduce the over-all error by 50%.