Real-Time Motion Artifacts Compensation of ToF Sensors Data on GPU

Over the last decade, ToF sensors attracted many computer vision and graphics researchers. Nevertheless, ToF devices suffer from severe motion artifacts for dynamic scenes as well as low-resolution depth data which strongly justifies the importance of a valid correction. To counterbalance this effect, a pre-processing approach is introduced to greatly improve range image data on dynamic scenes. We first demonstrate the robustness of our approach using simulated data to finally validate our method using sensor range data. Our GPU-based processing pipeline enhances range data reliability in real-time.