RANDOM ERRORS IN TIME-OF-FLIGHT CAMERA RANGE ESTIMATION AND THEIR IMPACT ON THE MEASUREMENT ACCURACY
V. A. Grishin
Space Research Institute, Russian Academy of Sciences, Moscow, Russia
Keywords: time-of-flight camera, ToF, range measurement, relative navigation errors, correlation of random measurement errors
Abstract
Three-dimensional time-of-flight cameras are increasingly used in robotics to provide information support for motion control tasks. They are also considered promising for solving docking problems with non-cooperating spacecraft. In this case, the magnitude of relative coordinate measurement errors that a time-of-flight camera can provide is very important. Random (noise) errors are analyzed in the present study, and the presence of significant correlations of random errors in measuring the range of time-of-flight cameras for neighboring pixels is revealed. For a particular example, an analytical solution is constructed that shows significant deterioration in the accuracy of distance measurements in the presence of this correlation.
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