CORRECTION OF MULTIPATH INTERFERENCE IN TIME OF FLIGHT CAMERA DEPTH IMAGING MEASUREMENTS

摘要

A system for determining distances to features in a scene is disclosed. The system includes, among other features, a target portion identifier module, a target surface generator, a reflector selection module, a light transport simulation module, a depth measurement correction generation module, and a distance calculation module. The target portion identifier module is configured to identify a plurality of target portions of the scene. The target surface generator is configured to simulate a plurality of target surfaces. The reflector selection module is configured to select a first plurality of reflector surfaces from the plurality of target surfaces and a second plurality of reflector surfaces from the first plurality of reflector surfaces. The light transport simulation module is configured to, for each target surface included in the target surfaces, simulate a multipath reflection of light emitted by the camera, reflected by the reflector surface to the target surface, and reflected by the target surface to the camera, to generate a simulated multipath response for the target surface. The depth measurement correction generation module is configured to generate a depth measurement correction for each target surface based on the simulated multipath response. The distance calculation module is configured to determine distances for the pixels based on the depth measurement corrections.