Single-Frame Direct Reflectance Estimation With Indirect Time-of-Flight Cameras

Caterina Nahler, Armin Schoenlieb, Sebastian Handel, Hannes Plank, Christian Steger, Norbert Druml

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


Computer vision algorithms are influenced by variations in lighting conditions. Images, independent of lighting conditions have the potential to improve tasks such as material and object classification. For Time-of-Flight (ToF) cameras the largest variation in lighting condition is caused by the distance between the camera and the object. ToF cameras are intended for 3D distance measurement. However, the features which enable distance measurement can be used to realize methods to record distance normalised grey images.In this paper, we explore methods to extract direct reflectance estimates from ToF measurements. We propose two novel methods relying on coded modulation (CM) and compare them to a method that can convert data from the state-of-the-art continuous wave (CW) measurement method. With the invention of the CM based methods, we can realize the normalization in a single frame measurement, compared to the four frames recorded by the CW method.All three methods are evaluated based on simulation results and in-laboratory measurements. We are able to demonstrate that our novel methods, relying on CM, can achieve the desired measurement behaviour
Original languageEnglish
Title of host publication2021 24th Euromicro Conference on Digital System Design (DSD)
Number of pages5
Publication statusPublished - 2021
Event24th Euromicro Conference on Digital System Design: DSD 2021 - Virtuell, Austria
Duration: 1 Sep 20213 Sep 2021


Conference24th Euromicro Conference on Digital System Design
Abbreviated titleDSD 2021
Internet address


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