Triangular Series Fitting-Based Harmonic Error Correction Method for Indirect Time-of-Flight Camera

Zhaoxiang Jiang; Zhan Song; Zhenzhong Xiao; Xuan Ma; Shaoguang Shi; Fei Wang

doi:10.3788/LOP230458

Laser & Optoelectronics Progress, Volume. 60, Issue 8, 0811028(2023)

Triangular Series Fitting-Based Harmonic Error Correction Method for Indirect Time-of-Flight Camera

Zhaoxiang Jiang^1,2, Zhan Song¹, Zhenzhong Xiao^2、*, 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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Figures & Tables(8)

Fig. 1. Measurement schematic diagram of the ITOF camera

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Fig. 2. Incident light amplitude and tap response of the ITOF pixel

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Fig. 3. Simulation of harmonic error of a 3-tap ITOF camera. (a) Correlation signal; (b) non-linear relationship between $φ_{t}$ and $φ_{m}$ ; (c) harmonic error $H (φ_{t})$ ; (d) harmonic error $H^{'} (φ_{m})$

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Fig. 4. Harmonic error calibration instrument

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Fig. 5. Harmonic error fitting for principle point pixel

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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

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Table 1. Distance period, root mean square error (RMSE) of calibration data and validation data for different highest fitting order

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Table 1. Distance period, root mean square error (RMSE) of calibration data and validation data for different highest fitting order

Parameter

K = 1

K = 2

K = 3

K = 4

Distance period /mm

750

375

250

187.5

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 2. RMSE of plane fitting of point cloud data from 1400 mm to 2000 mm plane before and after harmonic error correction

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Table 2. RMSE of plane fitting of point cloud data from 1400 mm to 2000 mm plane before and after harmonic error correction

Plane distance/mm	RMSE before harmonic error correction /mm	RMSE after harmonic error correction /mm
Average	26.7055	4.3876
1400	29.1314	3.4825
1500	22.1574	3.7269
1600	16.5045	4.2277
1700	33.3275	4.3753
1800	34.8804	4.5408
1900	21.2909	5.0163
2000	29.6467	5.3434

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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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Paper Information

Category: Imaging Systems

Received: Jan. 5, 2023

Accepted: Feb. 6, 2023

Published Online: Apr. 13, 2023

The Author Email: Xiao Zhenzhong (xiaozhenzhong@orbbec.com)

DOI:10.3788/LOP230458

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology