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SRA: Fast Removal of General Multipath for ToF Sensors*
Daniel Freedman1, Yoni Smolin1, Eyal Krupka1, Ido Leichter1, and Mirko Schmidt2
1Microsoft Research, Haifa, Israel
danifree@microsoft.com
t-yonis@microsoft.com
eyalk@microsoft.com
idol@microsoft.com
2Microsoft Corporation, Mountain View, CA, USA
mirko.schmidt@microsoft.com
Abstract. A major issue with Time of Flight sensors is the presence of multipath interference. We present Sparse Reflections Analysis (SRA), an algorithm for removing this interference which has two main advantages. First, it allows for very general forms of multipath, including interference with three or more paths, diffuse multipath resulting from Lambertian surfaces, and combinations thereof. SRA removes this general multipath with robust techniques based on L1 optimization. Second, due to a novel dimension reduction, we are able to produce a very fast version of SRA, which is able to run at frame rate. Experimental results on both synthetic data with ground truth, as well as real images of challenging scenes, validate the approach.
Electronic Supplementary Material:
LNCS 8689, p. 234 ff.
lncs@springer.com
© Springer International Publishing Switzerland 2014