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Lefloch, D, Nair, R, Lenzen, F, Schäfer, H, Streeter, L, Cree, M J, Koch, R and Kolb, A (2013). Technical Foundation and Calibration Methods for Time-of-Flight Cameras. Time-of-Flight and Depth Imaging: Sensors, Algorithms, and Applications. Springer. 8200 3-24