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Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps Reporter :鄒嘉恆 Date : 2009/11/17
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Introduction They provide real time depth estimates by combine stereo and Time-of-flight.
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Outline Motivation Multi-sensor calibration Geometric calibration Photometric calibration Calibration verification Sensor fusion Experimental results Conclusion
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Motivation Problem: Laser scanner are too slow for real time use. Stereo fails on textureless scenes. TOF is low resolution, noisy, and poorly calibrated.
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Multi-sensor setup SR3000: 176x144 Operational range up to 7 meters 2 CCD stereo cameras limit the calibration range from 1m to 1.4m
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Multi-sensor calibration Geometric calibration
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Multi-sensor calibration Photometric calibration
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Multi-sensor calibration Calibration verification-plane experiment
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Multi-sensor calibration Calibration verification-plane experiment
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Multi-sensor calibration Calibration verification-plane experiment Calibration verification-box experiment
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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.
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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
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Experimental results
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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%.
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