Simulation of Time-of-Flight Sensors using Global Illumination


Time-of-Flight (ToF) cameras use specialized sensors and modulated infrared light to simultaneously obtain depth, amplitude and intensity images. Depth images from such cameras suffer from various errors which exhibit a more complex behavior than traditional intensity images. Of these errors, the phenomenon of multi-reflection or multi-path interference poses the biggest challenge to researchers. It is caused by indirect light paths between camera and light source and is therefore dependent on scene geometry. While simulated data can be used for ground truth evaluation and whitebox testing, current simulators do not model multipath effects. The method we present is capa-ble of simulating all scene-dependant effects by taking global illumination into consideration. This is accomplished by modifying a bidirectional path tracing algorithm such that it takes the time-dependent propagation of modulated light in a scene into consideration. Furthermore, by combination of the proposed method with a previous hardware simulator we are capable of reproducing all effects in ToF cameras. The system was validated both on test targets with known real Time of Flight camera responses as well as qualitatively on a more complex room scene.

This dataset includes the sources, binaries and experimental data for the VMV 2013 Paper:

"Simulation of Time-of-Flight Sensors using Global Illumination" by

Stephan Meister, Rahul Nair and Daniel Kondermann.

See the included readme files for more information.

Additional Documentation will follow shortly

Dataset Download

Binaries, source code and experimental files for the VMV 2013 Paper: "Simulation of Time-of-Flight Sensors using Global Illumination" are available for download.
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