Probabilistic ToF and Stereo Data Fusion Based on Mixed Pixels Measurement Models

@article{Mutto2015ProbabilisticTA,
  title={Probabilistic ToF and Stereo Data Fusion Based on Mixed Pixels Measurement Models},
  author={Carlo Dal Mutto and Pietro Zanuttigh and Guido M. Cortelazzo},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2015},
  volume={37},
  pages={2260-2272}
}
This paper proposes a method for fusing data acquired by a ToF camera and a stereo pair based on a model for depth measurement by ToF cameras which accounts also for depth discontinuity artifacts due to the mixed pixel effect. Such model is exploited within both a ML and a MAP-MRF frameworks for ToF and stereo data fusion. The proposed MAP-MRF framework is characterized by site-dependent range values, a rather important feature since it can be used both to improve the accuracy and to decrease… CONTINUE READING
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