Time-of-flight (ToF) depth cameras have widely been used in many applications such as 3D imaging, 3D reconstruction, human interaction and robot navigation. However, conventional depth cameras are incapable of imaging a translucent object which occupies a substantial portion of a real world scene. Such a limitation prohibits realistic imaging using depth cameras. In this work, we propose a new skewed stereo ToF camera for detecting and imaging translucent objects under minimal prior of environment. We find that the depth calculation of a ToF camera with a translucent object presents a systematic distortion due to the superposed reflected light ray observation from multiple surfaces. We propose to use a stereo ToF camera setup and derive a generalized depth imaging formulation for translucent objects. Distorted depth value is refined using an iterative optimization. Experimental evaluation shows that our proposed method reasonably recovers the depth image of translucent objects.
Bibliographical noteFunding Information:
This work was supported by Kyung Hee University in 2013 under grant KHU-20130684 . This work was also supported by the Global Frontier R&D Program on “Human-centered Interaction for Coexistence” funded by the National Research Foundation of Korea grant funded by the Korean Government (MSIP) ( 2012M3A6A3057376 ).
© 2015 Elsevier B.V.
All Science Journal Classification (ASJC) codes
- Signal Processing
- Computer Vision and Pattern Recognition