Modeling and calibration of pulse-modulation based ToF imaging systems

Andreas Süss; Gabor Varga; Michael Marx; Peter Fürst; Stefan Gläsener; Wolfram Tiedke; Melanie Jung; Andreas Spickermann; Bedrich J. Hosticka

doi:10.1117/12.2213156

3 March 2016 Modeling and calibration of pulse-modulation based ToF imaging systems

Andreas Süss, Gabor Varga, Michael Marx, Peter Fürst, Stefan Gläsener, Wolfram Tiedke, Melanie Jung, Andreas Spickermann, Bedrich J. Hosticka

Author Affiliations +

Proceedings Volume 9751, Smart Photonic and Optoelectronic Integrated Circuits XVIII; 975117 (2016) https://doi.org/10.1117/12.2213156
Event: SPIE OPTO, 2016, San Francisco, California, United States

Abstract

Conversely to the continuous wave indirect time-of-flight (CW-iToF) imaging scheme, pulsed modulation ToF (PM-iToF) imaging is a promising depth measurement technique for operation at high ambient illumination. It is known that non-linearity and finite charge-transfer speed impact trueness and precision of ToF systems.^1–3 As pulses are no Eigenfunctions to the shutter system, this issue is especially pronounced in pulsed modulation.^{2, 3} Despite these effects, it is possible to find analytical expressions founded on physical observations that map scenery parameters such as depth information, reflectance and ambient light level to sensor output.^{3, 4} In the application, the inverse of this map has to be evaluated. In PM-iToF, an inverse function cannot be yielded in a direct manner, as models proposed in the literature were transcendental.^{3, 4} For a limited range an approximating linearization can be performed to yield depth information.⁵ To extend the usable range, recently, an alternative approach that indirectly approximates the inverse function was presented.⁶ This method was founded on 1D doping concentration profiles, which, however, are typically not made available to end users. Also, limitations of the 1D approximation as well as stability are yet to be explored. This work presents a calibration methodology that copes with detector insufficiencies such as finite charge transfer speed. Contrarily to the state of the art, no prior knowledge on details of the underlying devices is required. The work covers measurement setup, a benchmark of various calibration schemes and deals with issues such as overfitting or defect pixels.

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Andreas Süss, Gabor Varga, Michael Marx, Peter Fürst, Stefan Gläsener, Wolfram Tiedke, Melanie Jung, Andreas Spickermann, and Bedrich J. Hosticka "Modeling and calibration of pulse-modulation based ToF imaging systems", Proc. SPIE 9751, Smart Photonic and Optoelectronic Integrated Circuits XVIII, 975117 (3 March 2016); https://doi.org/10.1117/12.2213156

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KEYWORDS

Sensors

Modulation

Calibration

Cameras

Camera shutters

Data modeling

Imaging systems

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