Multi-camera Time-of-Flight Systems | SIGGRAPH 2016
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This document describes a multi-camera time-of-flight imaging system that uses multiple synchronized cameras and light sources. It allows control over modulation signals to capture dynamic scenes and extract depth, velocity and non-line-of-sight motion information. The system architecture uses a direct digital synthesis chip to generate programmable modulation signals, synchronized signal conditioning circuits and a real-time controller to coordinate image capture across multiple time-of-flight cameras. It aims to enable applications like phased array imaging, simultaneous Doppler velocity capture and detecting motion behind scattering media.
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[Velten et al. 2013]
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[Li et al. 2015]
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[Heide et al. 2013]](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
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Non-line-of-sight Imaging with Partial Occluders and Surface Normals | TOG 2019
Non-line-of-sight Imaging with Partial Occluders and Surface Normals | TOG 2019StanfordComputationalImaging
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Keynote at Tracking Workshop during ISMAR 2014
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Presentation slides for URAI 2012.
http://www.kros.org/urai2012/
http://www.kros.org/urai2012/04program07.php
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VLS™ is a unique combination of photogrammetry and Laser Techniques which provides the Advantages of both technologies without the disadvantages. VLS™ can also be operated by your existing technicians.
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For the full video of this presentation, please visit:
https://www.embedded-vision.com/platinum-members/basler/embedded-vision-training/videos/pages/may-2017-embedded-vision-summit
For more information about embedded vision, please visit:
http://www.embedded-vision.com
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Multi-camera Time-of-Flight Systems | SIGGRAPH 2016
- 1. Computational Imaging with Multi-Camera Time-of-Flight Systems Felix Heide*1,2Shikhar Shrestha*1 Wolfgang Heidrich2,3 Gordon Wetzstein1 2University of British Columbia 3KAUST1Stanford University www.computationalimaging.org * joint first authors
- 2. Time-of-Flight Imaging Kinect for Xbox One Google Tango Phone Direct Sampling Transient Imaging [Velten et al. 2013] Google Self-Driving Car Facial capture in VR [Li et al. 2015] Correlation Transient Imaging [Heide et al. 2013]
- 3. Multi-Camera ToF System • Multiple Camera/Sources • Phased Array • Control over modulation • Extensible • Reproducible
- 8. Image formation 1,2,3,4 Static frame Captured with TI OPT8241 Slow-Motion Video Captured with TI OPT8241
- 9. Time-of-Flight ImagingTime-of-Flight Imaging – Dynamic Scene Doppler shift: Orthogonal Frequencies:
- 10. Doppler Shift
- 11. Image formation – Multicam
- 12. Image formation – Frequency and Phase Synchronization
- 13. Image formation – Frequency and Phase Synchronization
- 14. Multi-Camera ToF System • Exposure Synchronization • Individual Sensor/Source Modulation Signals • High Frequency Accuracy • Compatible with Recent ToF Cameras • Extensibility
- 15. Multi-Camera ToF System – High-Level System Architecture
- 16. Multi-Camera ToF System – Key System Components Direct Digital Synthesis (DDS) Ch 0 Ch 1 Ch 2 Ch 3 - Programmable Frequency/Phase - Resolution : 0.12 Hz/0.02° - Range : 0-200 MHz/0-360° - Control over SPI • Custom Board for End-to-End Signal Conditioning • Combines a High Speed Comparator with Exposure Gating IC • Interfaces Directly with TI ToF Camera Signal Conditioning Circuitry ToF Daughter BoardAD9959 Real-Time Controller STMF4 Discovery Board • Controller responsible for triggering frames, controlling waveform generation and synchronization • Runs low-level firmware based on an interrupt driven state machine architecture
- 17. Multi-Camera ToF System – System Workflow Signal Conditioning Circuitry (Now on ToF Daughter Board) DDS Block MCU Host Real-Time Controller Ref. Signal (Now uses SAW Oscillator @ 5—MHz) PC ToF Cameras
- 18. Multi-Camera ToF System – System Workflow Signal Conditioning Circuitry (Now on ToF Daughter Board) DDS Block Ref. Signal (Now uses SAW Oscillator @ 500 MHz) Configure Modulation Parameters ToF Cameras
- 19. Multi-Camera ToF System – System Workflow Signal Conditioning Circuitry (Now on ToF Daughter Board) DDS Block Ref. Signal (Now uses SAW Oscillator @ 5—MHz) Configure Camera Registers
- 20. Multi-Camera ToF System – System Workflow Signal Conditioning Circuitry (Now on ToF Daughter Board) DDS Block Ref. Signal (Now uses SAW Oscillator @ 5—MHz) Initiate a Frame
- 21. Multi-Camera ToF System – System Workflow DDS Block Ref. Signal (Now uses SAW Oscillator @ 5—MHz) Start of Micro-Exposure/Quad
- 22. Multi-Camera ToF System – System Workflow Enable Modulation
- 23. Multi-Camera ToF System – System Workflow Modulation Signals to Sensor/Illum
- 24. Multi-Camera ToF System – System Workflow Raw Capture Data
- 25. Multi-Camera ToF System – System Workflow
- 26. Multi-Camera ToF System – Demo Unit Design DC-DC Voltage Regulators Host MCUDDS Board ToF Daughter Board ToF Camera
- 27. Demo
- 28. Applications Multi-Camera Interference Parallel Phase Capture Doppler Velocity Capture Motion Non-Line-Of-Sight Motion in Scattering Media
- 29. Applications Multi-Camera Interference Parallel Phase Capture Doppler Velocity Capture Motion Non-Line-Of-Sight Motion in Scattering Media
- 30. Phased Camera Depth Imaging
- 31. Applications Multi-Camera Interference Parallel Phase Capture Doppler Velocity Capture Motion Non-Line-Of-Sight Motion in Scattering Media
- 32. Simultaneous Doppler Velocity Imaging
- 33. Simultaneous Doppler Velocity Imaging
- 34. Applications Multi-Camera Interference Parallel Phase Capture Doppler Velocity Capture Motion Non-Line-Of-Sight Motion in Scattering Media
- 38. Applications Multi-Camera Interference Parallel Phase Capture Doppler Velocity Capture Motion Non-Line-Of-Sight Motion in Scattering Media
- 39. Motion in Scattering Media
- 40. Motion in Scattering Media
- 41. Multi-Camera ToF System Open-Source Hardware Platform: www.computationalimaging.org