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This paper describes a novel method to acquire depth images using a pair of ToF Time-of-Flight cameras. As opposed toapproaches that filter, calibrate or do 3D reconstructions posterior to the image acquisition, we combine the measurements of the twocameras within a modified acquisition procedure. The new proposed stereo-ToF acquisition is composed of three stages during whichwe actively modify the infrared lighting of the scene: first, the two cameras emit an infrared signal one after the other stages 1 and 2,and then, simultaneously stage 3. Assuming the scene is static during the three stages, we gather the depth measurementsobtained with both cameras and define a cost function to optimize the two depth images. A qualitative and quantitative evaluation ofthe performance of the proposed stereo-ToF acquisition is provided both for simulated and real ToF cameras. In both cases, thestereo-ToF acquisition produces more accurate depth measurements. Moreover, an extension to the multi-view ToF case and adetailed study on the interference specifications of the system are included.Nota general

Artículo de publicación ISI

Autor: Castañeda, Víctor; - Mateus, Diana; - Navab, Nassir; -



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