Fig. 1. Signal processing of TOF cameras

Fig. 2. Cubic B-spline fitting curve in depth error fitting surface

Fig. 3. Harmonic- and intensity-related errors measured by TOF simulation ranging camera. (a) Harmonic-related error; (b) intensity-related errors for different reflectivity targets

Fig. 5. Depth error of plates with different reflectivity, respectively corrected by the two models at the same depth. (a) 1.8 m; (b) 2.9 m; (c) 4.1 m; (d) 5.5 m

Fig. 6. Actual position depth images of face. (a) 3D depth image; (b) depth color image

Fig. 7. Light intensity image and depth color image measured by TOF camera. (a) Measured light intensity image; (b) measured depth image

Fig. 8. Depth images corrected by the two models. (a) Traditional model; (b) improved model