TOF-CCD image fusion using complex wavelets

A new generation of ToF cameras are practical devices capable of real-time 3D scene reconstruction. They are mainly limited by two factors; accuracy and low spatial resolution. Standard CCD and ToF images of a scene share likenesses in some regions, e.g., object edges are apparent as gradients in both modals. Here we propose an approach to overcome the resolution limitation; using an effective dual-tree complex wavelet transform framework in a calibrated setup to fuse the low resolution TOF image with the high resolution details of the CCD image. We show how this can enhance features such as at object borders.