By Christopher Rothero

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4 Results The calibration procedures described above are performed for two ToF cameras: MESA Imaging SR3101 and PMDTec CamCube. The technical details of these cameras are summarized first, followed by the results of each measurement. MESA SR3101. The SR3101 by Mesa Imaging is a modified version of SR3000 just without illumination module and filter in front of the sensor. The pixel size is 40 μm × 40 μm. In this version of the camera the variation of the modulation frequency was also possible3 : 20 MHz and 10 MHz/n (n = 1, 2, 3, .

Otherwise, the demodulation error will lead to incorrect object displacements. g. when motion estimation is not possible, a synthesized intensity image halfway between I1+ and I2+ rather than I0+ should be considered as optical flow reference. Otherwise, the object contour will not match its distance information due to the distance shift of κ/2, causing the object to shrink or expand. 24 M. Lindner and A. Kolb Fig. 6. Scene 1 before (top) and after motion compensation (middle) as well as the static reference scene (bottom).

Gray values for one row in the image sensor of PMD CamCube at different irradiances (left) and exemplarily for one pixel (right) – Photoresponse Nonuniformity PRNU: basically the distribution of the overall system gain K; – Dark Current Nonuniformity, DCNU: the distribution of the dark current, which is a part of the dark value μy,dark and depends on the exposure time and ambient temperature. Qualitatively, the nonuniformities DSNU and PRNU are typical distinct for CMOS sensors. For SR3101 these quantities vary more than for CamCube.

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