Multi-frame Super-resolution for Time-of-flight Imaging

Recently, time-of-flight (ToF) sensors have emerged as a promising three-dimensional sensing technology that can be manufactured inexpensively in a compact size. However, current state-of-the-art ToF sensors suffer from low spatial resolution due to physical limitations in the fabrication process. In this paper, we analyze the ToF sensor's output as a complex value coupling the depth and intensity information in a phasor representation. Based on this analysis, we introduce a novel multi-frame superresolution technique that can improve both spatial resolution in intensity and depth images simultaneously. We believe our proposed method can benefit numerous applications where high resolution depth sensing is desirable, such as precision automated navigation and collision avoidance.