Frank Lenzen, Henrik Schäfer, Christoph Garbe

Software Package for Denoising Time-of-Flight Data


example scene	noisy ToF depth	filtered depth

As a key issue of the project Algorithms for Low Cost Depth Imaging, co-financed by the HCI and the Intel Visual Computing Center in Saarbrücken, we addressed the problem of denoising Time-Of-Flight data, see related publications [1-4].

The final algorithm for denoising, as described in [3,4], is made publicly available under the GPL.
If you are interested in the code, please send an email to Frank Lenzen .

Our code is written in C++. It requires the following software packages:

the Vigra library (github)
openCV (download page)
cimg.h (download page, Ubuntu package: sudo apt-get install Cimg-dev)

As input, the depth and intensity data from the ToF camera are required. The input format is .cimg. A tool is provided to convert standard image formats to cimg. For technical details we refer to the quick start guide [5].

Related publications

[1]	Frank Lenzen, Kwang In Kim, Henrik Schäfer, Rahul Nair, Stephan Meister, Florian Becker, Christoph S. Garbe, Christian Theobalt,
	Denoising Strategies for Time-of-Flight Data,
	In J. Davis, M. Grzegorzek, B. Jähne, R. Koch, A. Kolb, R. Raskar, C. Theobalt (eds.),
	Time-of-Flight Imaging: Algorithms, Sensors and Applications, LNCS 8200, Springer
[2]	Damien Lefloch, Rahul Nair, Frank Lenzen, Henrik Schäfer, Lee Streeter, Michael J. Cree, Reinhard Koch, Andreas Kolb,
	Technical Foundation and Calibration Methods for Time-of-Flight Cameras,
	In J. Davis, M. Grzegorzek, B. Jähne, R. Koch, A. Kolb, R. Raskar, C. Theobalt (eds.),
	Time-of-Flight Imaging: Algorithms, Sensors and Applications, LNCS 8200, Springer
[3]	Henrik Schäfer, Frank Lenzen, Christoph S. Garbe,
	Depth and Intensity based Edge Detection in Time-of-Flight Images,
	Proceedings of 3D Vision, 2013
[4]	Frank Lenzen, Henrik Schäfer, Christoph Garbe,
	Denoising Time-Of-Flight Data with Adaptive Total Variation,
	Advances in Visual Computing, LNCS vol. 6938, pp. 337-346, Springer 2011
[5]	Frank Lenzen, Henrik Schäfer
	ToF denoising -- quick start guide [pdf]