• Laser & Optoelectronics Progress
  • Vol. 60, Issue 8, 0811028 (2023)
Zhaoxiang Jiang1、2, Zhan Song1, Zhenzhong Xiao2、*, Xuan Ma3, Shaoguang Shi2, and Fei Wang4
Author Affiliations
  • 1Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, Guangdong, China
  • 2Orbbec Inc, Shenzhen 518062, Guangdong, China
  • 3School of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, Guangdong, China
  • 4Shenzhen Oxin Technology Co., Ltd., Shenzhen 518062, Guangdong, China
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    DOI: 10.3788/LOP230458 Cite this Article Set citation alerts
    Zhaoxiang Jiang, Zhan Song, Zhenzhong Xiao, Xuan Ma, Shaoguang Shi, Fei Wang. Triangular Series Fitting-Based Harmonic Error Correction Method for Indirect Time-of-Flight Camera[J]. Laser & Optoelectronics Progress, 2023, 60(8): 0811028 Copy Citation Text show less
    Measurement schematic diagram of the ITOF camera
    Fig. 1. Measurement schematic diagram of the ITOF camera
    Incident light amplitude and tap response of the ITOF pixel
    Fig. 2. Incident light amplitude and tap response of the ITOF pixel
    Simulation of harmonic error of a 3-tap ITOF camera. (a) Correlation signal; (b) non-linear relationship between φt and φm; (c) harmonic error Hφt; (d) harmonic error H'φm
    Fig. 3. Simulation of harmonic error of a 3-tap ITOF camera. (a) Correlation signal; (b) non-linear relationship between φt and φm; (c) harmonic error Hφt; (d) harmonic error H'φm
    Harmonic error calibration instrument
    Fig. 4. Harmonic error calibration instrument
    Harmonic error fitting for principle point pixel
    Fig. 5. Harmonic error fitting for principle point pixel
    Point cloud and fitted plane of 1500 mm, 1700 mm, and 2000 mm planes. (a) (c) (e) Before harmonic error correction; (b) (d) (f) after harmonic error correction
    Fig. 6. Point cloud and fitted plane of 1500 mm, 1700 mm, and 2000 mm planes. (a) (c) (e) Before harmonic error correction; (b) (d) (f) after harmonic error correction
    ParameterK=1K=2K=3K=4
    Distance period /mm750375250187.5
    RMSE of the calibration data

    0.0228 rad

    8.1553 mm

    0.0067 rad

    2.3852 mm

    0.003 rad

    1.0865 mm

    0 rad

    0 mm

    RMSE of validation data

    0.0276 rad

    9.8707 mm

    0.0101 rad

    3.6298 mm

    000072 rad

    2.5787 mm

    0.0323 rad

    11.5566 mm

    Table 1. Distance period, root mean square error (RMSE) of calibration data and validation data for different highest fitting order
    Plane distance/mmRMSE before harmonic error correction /mmRMSE after harmonic error correction /mm
    Average26.70554.3876
    140029.13143.4825
    150022.15743.7269
    160016.50454.2277
    170033.32754.3753
    180034.88044.5408
    190021.29095.0163
    200029.64675.3434
    Table 2. RMSE of plane fitting of point cloud data from 1400 mm to 2000 mm plane before and after harmonic error correction
    Zhaoxiang Jiang, Zhan Song, Zhenzhong Xiao, Xuan Ma, Shaoguang Shi, Fei Wang. Triangular Series Fitting-Based Harmonic Error Correction Method for Indirect Time-of-Flight Camera[J]. Laser & Optoelectronics Progress, 2023, 60(8): 0811028
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