Image processing for 3D-scans generated by time of flight range cameras

H. Schöner, F. Bauer, A. Dorrington, B. Heise, V. Wieser, A. Payne, M. Cree, B. Moser. Image processing for 3D-scans generated by time of flight range cameras. SPIE Journal of Electronic Imaging, volume 21, number 2, pages, 5, 2012.

  • Holger Schöner
  • Frank Bauer
  • Adrian Dorrington
  • Bettina Heise
  • Volkmar Wieser
  • Andrew Payne
  • Michael J. Cree
  • Bernhard Moser
JournalSPIE Journal of Electronic Imaging
Abstract Time-of-flight (TOF) full-field range cameras use a correlative imaging technique to generate three-dimensional measurements of the environment. Though reliable and cheap they have the disadvantage of high measurement noise and errors that limit the practical use of these cameras in industrial applications. We show how some of these limitations can be overcome with standard image processing techniques specially adapted to TOF camera data. Additional information in the multimodal images recorded in this setting can be used to improve reduction of measurement noise. Three extensions of standard techniques, Wavelet thresholding, adaptive smoothing on a clustering based image segmentation, and an extended anisotropic diffusion filtering, are compared on synthetic data and on data acquired from two different off-the-shelf TOF cameras. Of these methods, the adapted Anisotropic Diffusion technique gives best results, and is implementable to perform in real time using current GPU hardware.