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Fast single-frequency time-of-flight range imaging

This paper proposes a solution to the 2-D phase unwrapping problem, inherent to time-of-flight range sensing technology due to the cyclic nature of phase. Our method uses a single frequency capture period to improve frame rate and decrease the presence of motion artifacts encountered in multiple frequency solutions. We present an illumination model that considers intensity image and estimates of the surface normal in addition to the phase image. Considering the number of phase wrap as the `label', the likelihood of each label is estimated at each pixel, and support for the labeling is shared between pixels throughout the image by Non-Local Cost Aggregation. Comparative experimental results confirm the effectiveness of the proposed approach.