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Multi-frequency Phase Unwrapping for Time-of-Flight cameras

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3 Author(s)
Droeschel, D. ; Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany ; Holz, D. ; Behnke, S.

Time-of-Flight (ToF) cameras gain depth information by emitting amplitude-modulated near-infrared light and measuring the phase shift between the emitted and the reflected signal. The phase shift is proportional to the object's distance modulo the wavelength of the modulation frequency. This results in a distance ambiguity. Distances larger than the wavelength are wrapped into the sensor's non-ambiguity range and cause spurious distance measurements. We apply Phase Unwrapping to reconstruct these wrapped measurements. Our approach is based on a probabilistic graphical model. We use loopy belief propagation to detect and infer the position of wrapped measurements. Besides depth discontinuities, our method utilizes multiple modulation frequencies to identify wrapped measurements. In experiments, we show that wrapped measurements are identified and corrected, even in situations where the scene shows steep slopes in the depth measurements.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010