Computational imaging with multi camera time of flight systems
Depth cameras are a ubiquitous technology used in a wide range of applications, including robotic and machine vision, human computer interaction, autonomous vehicles as well as augmented and virtual reality. In this paper, we explore the design and applications of phased multi camera time of flight (ToF) systems. We develop a reproducible hardware system that allows for the exposure times and waveforms of up to three cameras to be synchronized. Using this system, we analyze waveform interference between multiple light sources in ToF applications and propose simple solutions to this problem. Building on the concept of orthogonal frequency design, we demonstrate state of the art results for instantaneous radial velocity capture via Doppler time of flight imaging and we explore new directions for optically probing global illumination, for example by de scattering dynamic scenes and by non line of sight motion detection via frequency gating.
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