ZHAW-ISC 3D ToF and RGB Fusion Dataset

This dataset contains depth maps recorded by an ESPROS epc635 Time-of-Flight camera and RGB images from a Raspberry Pi camera module V2, for use in the fusion of these sensors to increase the resolution of the ToF camera.

The dataset contains three scenes, one of a paper dodecahedron, a wooden grid with holes of various sizes, and a set of wooden bars with different distances between them. All scenes have a black background with low reflectivity at the 3D ToF camera’s illumination wavelength to reduce multi-path interference. An HDR image is created by combining two 3D ToF depth maps with different integration times based on the recorded amplitude of each pixel. The depth map is then transformed to the perspective of the RGB camera and the resulting holes are filled with the mean of their neighboring pixels.

The content of the included files are:

Recorded HDR ToF camera depth maps (160x60), containing the depth values in millimeters, stored as 16-bit PNG files.

Recorded RGB images (2560x960)