Range imaging using a time-of-flight 3D camera and a cooperative object

The purpose of this work was to demonstrate the range imaging properties of a time-of-flight (TOF) 3D camera with a cooperative object. The performance of the 3D camera was characterized by measuring its distance response using a passive object within its unambiguous operating range of 1.5 - 6.5 m (20 MHz modulation). Characterization measurements were also made with a cooperative object. Besides a longer working range due to a higher signal level, cooperative objects such as conventional plastic retroreflectors or corner cubes can provide many additional advantages compared to passive object ranging. Volume measurements of stockpiles were performed in a dusty industrial environment to practically verify the advantages of using reflectors in TOF-camera measurements. Test measurements were also done in different kinds of weather.