Noise modelling in time-of-flight sensors with application to depth noise removal and uncertainty estimation in three-dimensional measurement

Amira Belhedi 1 Adrien Bartoli 2 Steve Bourgeois 1 Vincent Gay-Bellile 1 Kamel Hamrouni 3 Patrick Sayd 1
1 LVIC - Laboratoire Vision et Ingénierie des Contenus
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
2 UCA - Université Clermont Auvergne
3 ENIT - Ecole Nationale d'Ingénieurs de Tunis
Abstract : Time-of-flight (TOF) sensors provide real-time depth information at high frame-rates. One issue with TOF sensors is the usual high level of noise (i.e. the depth measure's repeatability within a static setting). However, until now, TOF sensors' noise has not been well studied. The authors show that the commonly agreed hypothesis that noise depends only on the amplitude information is not valid in practice. They empirically establish that the noise follows a signal-dependent Gaussian distribution and varies according to pixel position, depth and integration time. They thus consider all these factors to model noise in two new noise models. Both models are evaluated, compared and used in the two following applications: depth noise removal by depth filtering and uncertainty (repeatability) estimation in three-dimensional measurement.
Keywords : TOF cameras Noise Estimation
Document type :
Journal articles
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https://hal-cea.archives-ouvertes.fr/cea-01830538
Contributor : Vincent Gay-Bellile <>
Submitted on : Thursday, July 5, 2018 - 10:35:59 AM
Last modification on : Thursday, February 7, 2019 - 3:10:31 PM

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CEA | CEA-UPSAY | DRT | PRES_CLERMONT | LIST | UNIV-PARIS-SACLAY

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Amira Belhedi, Adrien Bartoli, Steve Bourgeois, Vincent Gay-Bellile, Kamel Hamrouni, et al.. Noise modelling in time-of-flight sensors with application to depth noise removal and uncertainty estimation in three-dimensional measurement. IET Computer Vision, IET, 2015, 9 (6), pp.967 - 977. ⟨10.1049/iet-cvi.2014.0135⟩. ⟨cea-01830538⟩

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