Real-time distance-dependent mapping for a hybrid ToF multi-camera rig

Frederic Garcia*, Djamila Aouada, Bruno Mirbach, Böjrn Ottersten

*Corresponding author for this work

Research output: Contribution to journalArticleResearchpeer-review

15 Citations (Scopus)


We propose a real-time mapping procedure for data matching to deal with hybrid time-of-flight (ToF) multi-camera rig data fusion. Our approach takes advantage of the depth information provided by the ToF camera to calculate the distance-dependent disparity between the two cameras that constitute the system. As a consequence, the not co-centric binocular system behaves as a co-centric system with co-linear optical axes between their sensors. The association between mapped and non-mapped image coordinates can be described by a set of look-up tables. This, in turn, reduces the complexity of the whole process to a simple indexing step, and thus, performs in real-time. The experimental results show that in addition to being straightforward and easy to compute, our proposed data matching approach is highly accurate which facilitates further fusion operations.

Original languageEnglish
Article number6231641
Pages (from-to)425-436
Number of pages12
JournalIEEE Journal on Selected Topics in Signal Processing
Issue number5
Publication statusPublished - 2012
Externally publishedYes


  • 3D data fusion
  • Data matching
  • mapping
  • multi-sensor systems
  • multimodal sensors
  • sensor fusion
  • time of flight (ToF)


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