提出校准方法消除iToF相机内部散射干扰，提升深度测量精度。
A Calibration Method for Indirect Time-of-Flight Cameras to Eliminate Internal Scattering Interference
- 基于实测数据建立校准模型，引入三个可解释参数。
- 校准后背景深度误差显著降低，复杂场景下效果明显。
- 无需硬件改动，适合实际部署，提升系统鲁棒性。
相机内光散射是间接飞行时间（iToF）相机中典型的非系统性干扰，主要由相机内部的多重反射和光路变化引起，会显著降低背景深度测量精度。为解决此问题，本文提出一种基于真实测量数据的校准模型，引入三个具有物理意义的校准参数：正常曝光幅度影响系数、过曝幅度影响系数和散射相位偏移系数。这些参数用于描述前景尺寸、曝光条件及光路差异对散射干扰的影响。实验结果表明，使用校准参数计算的深度值能有效补偿散射引起的误差，在复杂前景几何形状和不同光照条件下均显著改善背景深度恢复效果。该方法提供了一种低成本、实用性强的解决方案，无需复杂硬件修改，可大幅提高iToF系统在多种实际应用场景下的测量精度与鲁棒性。
原文摘要 · Abstract (English)
In-camera light scattering is a typical form of non-systematic interference in indirect Time-of-Flight (iToF) cameras, primarily caused by multiple reflections and optical path variations within the camera body. This effect can significantly reduce the accuracy of background depth measurements. To address this issue, this paper proposes a calibration-based model derived from real measurement data, introducing three physically interpretable calibration parameters: a normal-exposure amplitude influence coefficient, an overexposure amplitude influence coefficient, and a scattering phase shift coefficient. These parameters are used to describe the effects of foreground size, exposure conditions, and optical path differences on scattering interference. Experimental results show that the depth values calculated using the calibrated parameters can effectively compensate for scattering-induced errors, significantly improving background depth recovery in scenarios with complex foreground geometries and varying illumination conditions. This approach provides a practical, low-cost solution for iToF systems, requiring no complex hardware modifications, and can substantially enhance measurement accuracy and robustness across a wide range of real-world applications.
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