RangeRange ImagingImaging E-mail: [email protected] http://web.yonsei.ac.kr/hgjung Range Imaging [1] E-mail: [email protected] http://web.yonsei.ac.kr/hgjung Range Imaging [1] E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [2] Matricial TOF cameras estimate the scene geometry in a single shot by a matrix of NR×NC TOF sensors. Each one independently but simultaneously measuring the distance of a scene point in front of them. E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [2] Technical challenges because of the light speed. Distance measurements of nominal distance resolution of 1mm need a clock capable to measure 5ps time steps. 1) Continuous wave (CW) intensity modulation-based 2) Optical shutter (OS)-based 3) Single photon avalanche diodes (SPAD)-based This device is able to detect low intensity signals (down to the single photon) and to signal the arrival times of the photons with a jitter of a few tens of picoseconds. http://en.wikipedia.org/wiki/Single- photon_avalanche_diode E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [2] CW Modulation-based Commercial products: -MESA Imaging - PMD Technologies - Optrima SoftKinetic - Canesta (acquired by Microsoft in 2010) Research institutions -CSEM - Fondazione Bruno Kessler E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [2] CW Modulation-based E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] OS-based - ZCam of 3DV Systems (acquired by Microsoft in 2009) E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] OS-based The 3D information can now be extracted from the reflected deformed “wall” by deploying a fast image shutter in front of the CCD chip and blocking the incoming lights. The collected light at each of the pixels is inversely proportional to depth of the specific pixel. E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] OS-based E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] OS-based E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] OS-based E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera APD-based (3D Flash LIDAR) LIDAR: APD (avalanche photo diode)-based E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) LIDAR: APD (avalanche photo diode)-based 64 lasers are mounted on upper and lower blocks of 32 lasers each and the entire unit spins. This design allows for 64 separate lasers to each fire thousands of times per second, providing exponentially more data points per second and a much richer point cloud than conventional designs. http://www.velodyne.com/lidar/lidar.aspx E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) 3D Flash LIDAR camera’s readout semiconductors enable each pixel in the focal plane array to act independently and measure range and intensity of every pixel (point) in the camera's field of view. Using an avalanche photodiode detector (APD) hybridized with a CMOS focal plane array, the 3D Flash LIDAR camera operates like a 2D digital camera with “smart 3D pixels” in an array recording the time the camera’s laser pulse requires to travel to and from the objects illuminated by the laser in the scene. http://www.advancedscientificconcepts.com/technology/documents/Eye-safepaper.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) http://www.advancedscientificconcepts.com/technology/documents/Eye-safepaper.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung TOF Camera [3] APD-based (3D Flash LIDAR) http://ssco.gsfc.nasa.gov/workshop_2010/day3/Roger_Stettner/Stettner_ASC_Workshop_Presentation.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung Range Imaging Triangulation TOF Radiometry A Priori Knowledge Binocular Stereo Shape from Texture Passive Passive Motion Stereo Morphable Model Structured Lighting CW Modulation-based Photometric Stereo Active Active (Kinect) (TOF camera) OS-based Shape from Shading (ZCam) APD-based (3D Flash Lidar) http://www.velodyne.com/lidar/lidar.aspx E-mail: [email protected] http://web.yonsei.ac.kr/hgjung References 1. Brian Curless, “Overview of Active Vision Techniques,” SIGGRAPH 99 Course on 3D Photography. 2. Carlo Dal Mutto, Pietro Zanuttigh, Guido M. Cortelazzo, Time-of-Flight Cameras and Microsoft Kinect, Springer, Mar. 2012. 3. G.J. Iddan and G. Yahav, “3D Imaging in the studio,” http://classes.soe.ucsc.edu/cmps290b/Fall05/readings/iddan.pdf E-mail: [email protected] http://web.yonsei.ac.kr/hgjung.