HCI Logo
Heidelberg University Logo
IWR Logo

Software Package for Denoising Time-of-Flight Data

[Overview ] [Projects ] [Publications [Misc ]


Frank Lenzen, Henrik Schäfer, Christoph S. Garbe


Scenenoisy ToF depth filtered ToF depth
example scene
noisy ToF depth
filtered depth
As a key issue of the project Algorithms for Low Cost Depth Imaging, co-financed by the HCI and the Intel Visual Computing Center in Saarbrücken, we addressed the problem of denoising Time-Of-Flight data, see related publications [1-4].

The final algorithm for denoising, as described in [3,4], is made publicly available under the GPL.
If you are interested in the code, please send an email to Frank Lenzen.

down Our code is written in C++. It requires the following software packages: As input, the depth and intensity data from the ToF camera are required. The input format is .cimg. A tool is provided to convert standard image formats to cimg. For technical details we refer to the quick start guide [5].

Related publications

[1] Frank Lenzen, Kwang In Kim, Henrik Schäfer, Rahul Nair, Stephan Meister, Florian Becker, Christoph S. Garbe, Christian Theobalt,
Denoising Strategies for Time-of-Flight Data,
In J. Davis, M. Grzegorzek, B. Jähne, R. Koch, A. Kolb, R. Raskar, C. Theobalt (eds.),
Time-of-Flight Imaging: Algorithms, Sensors and Applications, LNCS 8200, Springer
[2] Damien Lefloch, Rahul Nair, Frank Lenzen, Henrik Schäfer, Lee Streeter, Michael J. Cree, Reinhard Koch, Andreas Kolb,
Technical Foundation and Calibration Methods for Time-of-Flight Cameras,
In J. Davis, M. Grzegorzek, B. Jähne, R. Koch, A. Kolb, R. Raskar, C. Theobalt (eds.),
Time-of-Flight Imaging: Algorithms, Sensors and Applications, LNCS 8200, Springer
[3] Henrik Schäfer, Frank Lenzen, Christoph S. Garbe,
Depth and Intensity based Edge Detection in Time-of-Flight Images,
Proceedings of 3D Vision, 2013
[4] Frank Lenzen, Henrik Schäfer, Christoph Garbe,
Denoising Time-Of-Flight Data with Adaptive Total Variation,
Advances in Visual Computing, LNCS vol. 6938, pp. 337-346, Springer 2011
[5] Frank Lenzen, Henrik Schäfer
ToF denoising -- quick start guide [pdf]