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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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Presentation on theme: "Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps Reporter :鄒嘉恆 Date : 2009/11/17."— Presentation transcript:

1 Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps Reporter :鄒嘉恆 Date : 2009/11/17

2 Introduction They provide real time depth estimates by combine stereo and Time-of-flight.

3 Outline Motivation Multi-sensor calibration  Geometric calibration  Photometric calibration  Calibration verification Sensor fusion Experimental results Conclusion

4 Motivation Problem:  Laser scanner are too slow for real time use.  Stereo fails on textureless scenes.  TOF is low resolution, noisy, and poorly calibrated.

5 Multi-sensor setup SR3000:  176x144  Operational range up to 7 meters 2 CCD stereo cameras limit the calibration range from 1m to 1.4m

6 Multi-sensor calibration Geometric calibration

7 Multi-sensor calibration Photometric calibration

8 Multi-sensor calibration Calibration verification-plane experiment

9 Multi-sensor calibration Calibration verification-plane experiment

10 Multi-sensor calibration Calibration verification-plane experiment Calibration verification-box experiment

11 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.

12 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

13 Experimental results

14

15 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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