Real-Time Image Stabilization for ToF Cameras on Mobile Platforms

摘要

In recent years, depth cameras gained increasing acceptance in the areas of robotics and autonomous systems. However, on mobile platforms depth measurements with continuous wave amplitude modulation Time-of-Flight cameras suffer from motion artifacts, since multiple acquisitions are required in order to compute one depth map (resulting in longer effective exposure times). Some lenses of different manufacturers include image stabilizers, but they are only able to compensate for small image shifts. Moreover, when performing a phase unwrapping based on the acquisition of multiple depth maps with different modulation frequencies, the motion artifacts are significantly more severe. In this paper, a method to compensate camera motions during the acquisition of a single depth map as well as for multiple depth maps is presented. Image shifts are estimated firstly and after normalization the individual phase images are shifted accordingly. The proposed approach is evaluated on different scenes and it is able to facilitate ToF imaging on mobile platforms.