Y.M. Kim, D. Chan, C. Theobalt, S. Thrun, Design and Calibration of a Multi-view TOF Sensor Fusion System, IEEE CVPR Workshop on Time-of-flight Computer Vision, 2008


This paper describes the design and calibration of a system that enables simultaneous recording of dynamic scenes with multiple high-resolution video and low-resolution Swissranger time-of-flight (TOF) depth cameras. The system shall serve as a testbed for the development of new algorithms for high-quality multi-view dynamic scene reconstruction and 3D video. The paper also provides a detailed analysis of random and systematic depth camera noise which is important for reliable fusion of video and depth data. Finally, the paper describes how to compensate systematic depth errors and calibrate all dynamic depth and video data into a common frame.


author={Young Min Kim and Chan, D. and Theobalt, C. and Thrun, S.}, 
booktitle={Computer Vision and Pattern Recognition Workshops, 2008. CVPRW '08. IEEE Computer Society Conference on}, title={Design and calibration of a multi-view TOF sensor fusion system}, 
pages={1 -7}, 
keywords={Swissranger time-of-flight depth cameras;calibration;dynamic scene reconstruction;dynamic scene recording;high-resolution video cameras;multiview TOF sensor fusion system;calibration;image fusion;image reconstruction;image resolution;image sensors;video cameras;video recording;video signal processing;},