@article {frank_09_denoising, title = {Denoising of Continuous-Wave Time-Of-Flight Depth Images Using Confidence Measures}, journal = {Optical Engineering}, volume = {48, 077003}, year = {2009}, note = {1}, doi = {10.1117/1.3159869}, author = {Mario Frank and Matthias Plaue and Fred A. Hamprecht} }