Guidance image based method for real-time motion artefact handling on Time-of-Flight cameras

Cedric Schockaert, Frederic Garcia, Bruno Mirbach

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)


This paper presents a real-time approach to address the motion artefact related to the Time-of-Flight (ToF) camera's working principle. ToF cameras based on demodulation lock-in pixels estimate depth from the phase-shift between emitted and received modulated near-infrared (NIR) signals, in which four sequential phase-shifted images are required, i.e., four-taps technique. The ToF working principle assumes the scene to be motionless during this time interval. However and in practise, unreliable depth measurements arise along object boundaries in dynamic scenes, mainly when fast movements are involved. Herein, we propose a robust method to identify those pixels in the resulting depth map that are prominent to be unreliable. Then, we replace their values by the closest reliable ones using the guided filter (GF) and an accurate guidance image, generated from the previously acquired sequential phase-shifted images. The GF has been selected as it presents a better behaviour near edges than alternative edge preserving filters with a major advantage of being a fast and non-approximate linear time algorithm. The experimental evaluation shows that the proposed method satisfactory addresses the motion artefact, even in extreme conditions.

Original languageEnglish
Title of host publicationIV 2015 - 2015 IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781467372664
Publication statusPublished - 26 Aug 2015
Externally publishedYes
EventIEEE Intelligent Vehicles Symposium, IV 2015 - Seoul, Korea, Republic of
Duration: 28 Jun 20151 Jul 2015

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


ConferenceIEEE Intelligent Vehicles Symposium, IV 2015
Country/TerritoryKorea, Republic of


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