PMD Camera Calibration Based on Adaptive Bilateral Filter

PMD camera is an active 3D camera based on TOF principle. This camera can capture intensity image and depth map at the same time and also has advantages of high frame rate, non-scan and independence on ambient light, etc. But the depth data are contaminated by random noise and systematic bias. To solve this problem, this paper analyzes the factors that affect the precision of distance data and presents an adaptive bilateral filter. The main idea of this algorithm is to smooth the pixels in local neighborhood. By experiment, we find out this algorithm not only can reduce the noise and improve the measurement precision, but also can preserve the edge of image.