Accurate Range Image Generation Using Sensor Fusion of TOF and Stereo-basedMeasurement

Abstract

This paper proposes a system for measuring high precision range images under various conditions by combining range image sensors with different measurement principles. We utilize a stereo camera and a TOF (Time-of-Flight) range image sensor for our measuring system. Stereo cameras can measure relatively long range; however, measurement errors occur frequently. On the other hand, TOF sensors can provide relatively accurate distance measurements, but it cannot deal with under sunlight condition. In this respect, we develop a novel system that is able to generating a range image under any environment by sensor fusion. Experiment results demonstrate that the proposed system can generate the range image accurately.