Underwater Time of Flight Camera Rangefinding with Backscatter Phasor Subtraction

Time-of-flight (ToF) cameras are a recently developed tool for measuring and mapping 3D space. These cameras have potential for underwater applications, however their performance is limited by scattering in many underwater environments. This work uses a phasor subtraction method to overcome some of the limits imposed on ToF cameras due to scattering. Experimental results demonstrate the efficacy of this method, doubling the operating range of the raw camera performance.