A theoretical and experimental investigation of the systematic errors and statistical uncertainties of time-of-flight cameras

The following paper presents a model to predict the systematic errors and statistical uncertainties of Time-Of-Flight (TOF) 3D imaging systems. The experimental data obtained with a custom build test setup show that the SD of the depth signal rises approximately quadratically with the depth. The most significant systematic depth error is periodic with an amplitude of around 50mm. It is provoked by the inharmonic correlation function. The inhomogeneity in each pixel (fixed pattern) accounts for a depth error of about 20mm, while illumination and reflectivity variations cause depth errors of less than 10mm, provided that no overflows occur.