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      Time-of-flight range image measurement in the presence of transverse motion using the Kalman filter

      Streeter, Lee
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      DOI
       10.1109/TIM.2018.2800918
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      Streeter, L. (2018). Time-of-flight range image measurement in the presence of transverse motion using the Kalman filter. IEEE Transactions on Instrumentation and Measurement, 67(7), 1573–1578. https://doi.org/10.1109/TIM.2018.2800918
      Permanent Research Commons link: https://hdl.handle.net/10289/13817
      Abstract
      Time-of-flight range imaging cameras measure distance to objects in their field of view, but are prone to error when objects move. At least three raw frames are required to obtain one range image, and the standard method is to read out raw frames into separate sets and process to find one range image per set. Motion during the acquisition of a set causes error in the corresponding range image. In this paper, the problem of motion is addressed by regarding the raw data from each pixel as a noisy time series, and using the Kalman filter to efficiently perform time-series analysis. The proposed method adapts to the effects of transverse motion, measuring a sharp range image at each raw frame. The error in the proposed method is less than the traditional approach in 80% of tests, with no detected increase in the STD due to noise. In the qualitative experimental results, the visible blur is reduced.
      Date
      2018
      Type
      Journal Article
      Publisher
      IEEE
      Rights
      © 2018 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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