Abstract: A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.

Abstract: A dynamic reference range image generation method comprises providing a reference range image, to be dynamically updated, composed of pixels, each of which contains a reference range value. An acquired range image is provided, the pixels of which contain each a measured range value, the measured range values being updated at a predetermined rate. Pixels of the acquired range image containing an invalid measured range value are accordingly marked. The measured range value of each pixel of the acquired range image not marked as containing an invalid measured range value is compared with the reference range value of the corresponding pixel of the reference range image. The reference range value of that pixel of the reference range image is updated e.g.

Abstract: A method of recording 3D images of a scene based on the time-of-flight principle is described. The method includes illuminating a scene by emitting light carrying an intensity modulation, imaging the scene onto a pixel array using an optical system, detecting, in each pixel, intensity-modulated light reflected from the scene onto the pixel and determining, for each pixel, a distance value based on the phase of light detected in the pixel. The determination of the distance values includes a phase-sensitive de-convolution of the scene imaged onto the pixel array such that phase errors induced by light spreading in the optical system are compensated for.

Abstract: A dynamic reference range image generation method comprises providing a reference range image, to be dynamically updated, composed of pixels, each of which contains a reference range value. An acquired range image is provided, the pixels of which contain each a measured range value, the measured range values being updated at a predetermined rate. Pixels of the acquired range image containing an invalid measured range value are accordingly marked. The measured range value of each pixel of the acquired range image not marked as containing an invalid measured range value is compared with the reference range value of the corresponding pixel of the reference range image. The reference range value of that pixel of the reference range image is updated e.g.

Abstract: A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.

Abstract: A method of recording 3D images of a scene based on the time-of-flight principle comprises illuminating a scene by emitting light carrying an intensity modulation, imaging the scene onto a pixel array using an optical system, detecting, in each pixel, intensity-modulated light reflected from the scene onto the pixel and determining, for each pixel, a distance value based on the phase of light detected in the pixel. The determination of the distance values comprises a phase-sensitive de-convolution of the scene imaged onto the pixel array such that phase errors induced by light spreading in the optical system are compensated for.