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R. Nair, Meister, S., Lambers, M., Balda, M., Hofmann, H., Kolb, A., Kondermann, D., and Jähne, B., Ground truth for evaluating time of flight imaging, Time-of-Flight and Depth Imaging. Sensors, Algorithms, and Applications, vol. 8200. Springer, p. 52--74, 2012.