Carlo Dal Mutto, Pietro Zanuttigh, Guido M. Cortelazzo

(Multimedia Technology and Telecommunications Laboratory, University of Padova)

This archive contains the data from the experimental results of the paper "Probabilistic ToF and Stereo Data Fusion Based on Mixed Pixels Measurement Models" by Carlo Dal Mutto, Pietro Zanuttigh and Guido M. Cortelazzo that has been submitted to the IEEE Transaction on Pattern Analysis and Machine Intelligence. Due to the limited space in the paper some of the figures in the printed version are too small to appreciate many small details of the differences between the results of the various compared methods. This archive contains the original versions of the input and results images in order to better appreciate the performances of the proposed method. It also contains the depth discontinuity maps used to compute the results in Table 3 of the paper.

Material in the folders:

• The folder "Input" contains the input data for the 5 scenes.

• The folder "Calibration_Parameters" contains all the calibration parameters for the employed acquisition setup.

• The folder "Results" contains the output depth maps computed by the proposed approach on the 5 different scenes used in the experimental results. It has 4 different subfolders with the Tof, Stereo, ML and MAP results (please refer to the paper for the details on how they have been computed). In particualr notice how the ML depth maps still present some artifacts specially in proximity of edges while the proposed MAP optimization leads to sharp and precisely located edges. Note also that the ToF data has a resolution of just 176x144, 16 times smaller (4 times in each direction) than the presented output depth maps and the ToF results in the archive have been interpolated.

• The folder "Ground Truth" contains the ground truth data computed with space time stereo.

• The folder "Errors" contains the error maps for the ToF, Stereo, ML and MAP results.

• The folder "discontinuities" contains the discontinuities maps used for the computation of the results in Table 3.