High Performance Time-of-Flight and Color Sensor Fusion with Image-Guided Depth Super Resolution

Abstract

In recent years, depth sensing systems have gained popularity and have begun to appear on the consumer market. Of these systems, PMD-based Time-of-Flight cameras are the smallest available and will soon be integrated into mobile devices such as smart phones and tablets. Like all other available depth sensing systems, PMD-based Time-of-Flight cameras do not produce perfect depth data. Because of the sensor's characteristics, the data is noisy and the resolution is limited. Fast movements cause motion artifacts, which are undefined depth values due to corrupted measurements. Combining the data of a Time-of-Flight and a color camera can compensate these flaws and vastly improve depth image quality.