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

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.