Further investigations on ToF cameras distance errors and their corrections.

The distance calibration of the time of flight camera is a difficult task due to the errors produced by multi reflections of the light inside the camera body and outside. In any room the active light emitted by the camera is reflected by the walls and the objects in the scene. Thus the reflected light by the objects in the scene is the sum of this light and the direct light emitted by the camera. The distance information is affected by this indirect light. The calibration method we propose can be performed not only in laboratory condition but also in any conditions. The distance errors for all objects in the scene can be corrected if white or black tags (labels) are attached on objects.