Multipath Interference Compensation in Time-of-Flight Camera Images

Multipath interference is inherent to the working principle of a Time-of-flight camera and can influence the measurements by several centimeters. Especially in applications that demand for high accuracy, such as object localization for robotic manipulation or ego-motion estimation of mobile robots, multipath interference is not tolerable. In this paper we formulate a multipath model in order to estimate the interference and correct the measurements. The proposed approach comprises the measured scene structure. All distracting surfaces are assumed to be Lambertian radiators and the directional interference is simulated for correction purposes. The positive impact of these corrections is experimentally demonstrated.