Error Analysis And Compensation Research Of The TOF 3D Camera

The 3D camera based on TOF (Time-of-flight) technology is an innovative, small imaging and distance measuring equipment. It has the ability to get gray image synchronously with distance data. This 3D camera has an advantage over conventional 2D-camera, and is the focus of research home and abroad. This thesis studies on the error analysis and compensation research of the TOF 3D camera, synthesize analyse the errors exist in the camera. Design different compensation algorithms to suit different errors. The main work includes:(1) Synthesize illustrates measurement principle, system architecture and signal processing model of TOF camera. Analyse different errors exist in the camera, like exposure error, winding error and angle error. According to different causes of generation, classify them into Static Error and Dynamic Error, and demonstrated by experiments.(2) Design Static Error compensation algorithms. Analyse brightness data to find overexposure pixels, and use Median-Filter to correct noise points. Combine optical model, derive winding error correct formula. Use bias-corrected coefficient matrix to solve the problem that corner distance longer than center.(3) Design Dynamic Error compensation framework. Aim at different errors, Judge the object characteristic by observed data. Use adaptation correcting coefficients to reduce dynamic errors from different materials and colors.(4) Combine Static Error compensation with Dynamic Error compensation, establish integration error compensation model of TOF camera, and experiment on it. The results demonstrate that this model not only correctes the fixed Static Error, but also control the Dynamic Error caused by entironment, efficiently improves the precision of TOF camera.