TOF深度相机误差分析及补偿方法

Error analysis and compensation method for TOF depth-sensing camera

主要分析了基于TOF测量技术的深度相机的深度误差产生的原理,针对ARGUS-A5型号深度相机产生的各类误差建立相对应的误差补偿模型,消去其误差影响。首先,利用黑白棋盘格标定法及Matlab摄像机标定工具箱标定了深度相机的内参矩阵以及畸变系数,消除了光心偏移误差、畸变误差;其次,基于针孔成像模型建立了平面误差补偿模型,消除了成像平面像素点的深度高估误差;最后,在不同深度下采集一个标准平面的数据,与真实深度数据进行线性拟合,建立深度信息误差查找表。结果表明,补偿后深度信息误差下降率为95.38%,最大误差率减少9.66%,补偿时间在20 ms内。

The principle generating depth error of TOF(time-of-flight)depth-sensing cameras based on TOF measurement technology is mainly analyzed,and the corresponding error compensation model for various errors generated by TOF depth-sensing camera(ARGUS-A5)is established to eliminate the error effects.The black-and-white checkerboard calibration method and the Matlab camera calibration toolbox are used to calibrate the internal parameter matrix and distortion coefficient of the TOF depth-sensing camera to eliminate the optical center offset error and distortion error.A plane error compensation model is established on the basis of the pinhole imaging model to eliminate the depth overestimation error of pixels on the imaging plane.Finally,some standard plane data are collected at different depths and make them linear fitted with the data collected from real depth to establish a depth information error lookup table.The results show that the error of depth information after compensation declines to 95.38%,the maximum error rate is reduced by 9.66%,and the compensation time is within 20 ms.