@article {frank2009,
	title = {Theoretical and experimental error analysis of continuous-wave time-of-flight range cameras},
	journal = {Opt. Eng.},
	volume = {48},
	year = {2009},
	pages = {013602},
	abstract = {We offer a formal investigation of the measurement principle of time-of-flight 3-D cameras using correlation of amplitude-modulated continuous-wave signals. These sensors can provide both depth maps and IR intensity pictures simultaneously and in real time. We examine the theory of the data acquisition in detail. The variance of the range measurements is derived in a concise way and we show that the computed range follows an offset normal distribution. The impact of quantization of that distribution is discussed. All theoretically investigated errors like the behavior of the variance, depth bias, saturation and quantization effects are supported by experimental results.},
	doi = {10.1117/1.3070634},
	author = {Mario Frank and Matthias Plaue and Holger Rapp and Ullrich K{\"o}the and Bernd J{\"a}hne and Fred A. Hamprecht}
}
@article {frank_09_theoretical,
	title = {Theoretical and Experimental Error Analysis of Continuous-Wave Time-Of-Flight Range Cameras},
	journal = {Optical Engineering},
	volume = {48, 013602},
	year = {2009},
	note = {1},
	doi = {10.1117/1.3070634},
	author = {Mario Frank and Matthias Plaue and Holger Rapp and Ullrich K{\"o}the and Bernd J{\"a}hne and Fred A. Hamprecht}
}
@article {rapp2008,
	title = {A theoretical and experimental investigation of the systematic errors and statistical uncertainties of time-of-flight cameras},
	journal = {Int. J. Intelligent Systems Technologies and Applications},
	volume = {5},
	year = {2008},
	pages = {402--413},
	abstract = {The following paper presents a model to predict the systematic errors and statistical uncertainties of Time-Of-Flight (TOF) 3D imaging systems. The experimental data obtained with a custom build test setup show that the SD of the depth signal rises approximately quadratically with the depth. The most significant systematic depth error is periodic with an amplitude of around 50mm. It is provoked by the inharmonic correlation function. The inhomogeneity in each pixel (fixed pattern) accounts for a depth error of about 20mm, while illumination and reflectivity variations cause depth errors of less than 10mm, provided that no overflows occur.},
	doi = {10.1504/IJISTA.2008.021303},
	author = {Holger Rapp and Mario Frank and Fred A. Hamprecht and Bernd J{\"a}hne}
}
@article {rapp_08_theoretical,
	title = {A Theoretical and Experimental Investigation of the Systematic Errors and Statistical Uncertainties of Time-of-Flight Cameras},
	journal = {Int. J. Intelligent Systems Technologies and Applications},
	volume = {5},
	number = {3},
	year = {2008},
	note = {1},
	pages = {402-413},
	doi = {10.1504/IJISTA.2008.021303},
	author = {Holger Rapp and Mario Frank and Fred A. Hamprecht and Bernd J{\"a}hne}
}
@mastersthesis {rapp2007a,
	title = {Experimental and Theoretical Investigation of Correlating TOF-Camera Systems},
	year = {2007},
	school = {IWR, Fakult{\"a}t f{\"u}r Physik und Astronomie, Universit{\"a}t Heidelberg},
	url = {http://www.ub.uni-heidelberg.de/archiv/7666},
	author = {Holger Rapp}
}
@conference {rapp2007,
	title = {A theoretical and experimental investigation of the systematic errors and statistical uncertainties of time-of-flight cameras},
	booktitle = {Proc.\ Dyn3D Workshop, Heidelberg, Sept. 11, 2007},
	year = {2007},
	publisher = {ZESS, Univ.\ Siegen},
	organization = {ZESS, Univ.\ Siegen},
	author = {Holger Rapp and Mario Frank and Fred A. Hamprecht and Bernd J{\"a}hne}
}
