Abstract: 3D data intuitively reflects the full view of the target or scene. Time of Flight (ToF) camera is a range imaging sensor that can provide 3D geometric information of targets immediately, thus it is widely applied in the robot positioning and navigation, 3D reconstruction and other aspects etc. Due to the operational principle of the camera itself, there are variety measurement errors of the source data obtained by ToF, resulting in image distortion. The measurement errors in the imaging process of ToF camera were analyzed and summarized, and the cubic spline interpolation method combined with look-up table was proposed to segment the compensation of the nonlinear depth offset to realize the adaptive error compensation process. A data correction model based on the pinhole model was proposed to tackle the data errors appeared during the process of coordinate transformation from Spherical Coordinate System to Cartesian Coordinate System, to restore the real scene more accurately. Experiment results show that the corrected depth data error and offset are effectively improved.

Key words: image processing, 3D Data, ToF camera, data correction, error compensation