E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [2]TOF Camera [2]
Matricial TOF cameras estimate the scene geometry in a single shot by a matrix of NR×NC TOF sensors. Each one independently but simultaneously measuring the distance of a scene point in front of them.
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [2]TOF Camera [2]
Technical challenges because of the light speed.
Distance measurements of nominal distance resolution of 1mm need a clock capable to measure 5ps time steps.
1) Continuous wave (CW) intensity modulation-based
2) Optical shutter (OS)-based
3) Single photon avalanche diodes (SPAD)-based
This device is able to detect low intensity signals (down to the single photon) and to signal the arrival times of the photons with a jitter of a few tens of picoseconds. http://en.wikipedia.org/wiki/Single- photon_avalanche_diode
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [2]TOF Camera [2]
CW Modulation-based
Commercial products:
- MESA Imaging
- PMD Technologies
- Optrima SoftKinetic
- Canesta (acquired by Microsoft in 2010)
Research institutions
- CSEM
- Fondazione Bruno Kessler
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [2]TOF Camera [2]
CW Modulation-based
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
OS-based
- ZCam of 3DV Systems (acquired by Microsoft in 2009)
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
OS-based
The 3D information can now be extracted from the reflected deformed “wall” by deploying a fast image shutter in front of the CCD chip and blocking the incoming lights.
The collected light at each of the pixels is inversely proportional to depth of the specific pixel.
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF CameraTOF Camera
APD-based (3D Flash LIDAR)
LIDAR: APD (avalanche photo diode)-based
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
http://www.velodyne.com/lidar/lidar.aspx
64 lasers are mounted on upper and lower blocks of 32 lasers each and the entire unit spins.
This design allows for 64 separate lasers to each fire thousands of times per second, providing exponentially more data points per second and a much richer point cloud than conventional designs.
LIDAR: APD (avalanche photo diode)-based
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
3D Flash LIDAR camera’s readout semiconductors enable each pixel in the focal plane array to act independently and measure range and intensity of every pixel (point) in the camera's field of view.
Using an avalanche photodiode detector (APD) hybridized with a CMOS focal plane array, the 3D Flash LIDAR camera operates like a 2D digital camera with “smart 3D pixels” in an array recording the time the camera’s laser pulse requires to travel to and from the objects illuminated by the laser in the scene.
http://www.advancedscientificconcepts.com/technology/documents/Eye-safepaper.pdf
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
http://www.advancedscientificconcepts.com/technology/documents/Eye-safepaper.pdf
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
TOF Camera [3]TOF Camera [3]
APD-based (3D Flash LIDAR)
http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
Range ImagingRange Imaging
http://www.velodyne.com/lidar/lidar.aspx
Triangulation TOF
Binocular Stereo
Motion Stereo
Structured Lighting
(Kinect)
CW Modulation-based
(TOF camera)
OS-based
(ZCam)
APD-based
(3D Flash Lidar)
Radiometry
Photometric Stereo
Shape from Shading
A Priori Knowledge
Shape from Texture
Morphable Model
PassivePassive
Active
Active
E-mail: [email protected]://web.yonsei.ac.kr/hgjung
ReferencesReferences
1. Brian Curless, “Overview of Active Vision Techniques,” SIGGRAPH 99 Course on 3D Photography.
2. Carlo Dal Mutto, Pietro Zanuttigh, Guido M. Cortelazzo, Time-of-Flight Cameras and Microsoft Kinect, Springer, Mar. 2012.
3. G.J. Iddan and G. Yahav, “3D Imaging in the studio,” http://classes.soe.ucsc.edu/cmps290b/Fall05/readings/iddan.pdf