Comparison of ThreeDimensional Scanning Devices There are now a variety of methods and devices for deriving 3D information, e.g. binocular camera (stereo) systems and methods of the class shape from X. In addition, there are modern recording technologies that simultaneously measure gray scale values and distance (range cameras, TOF cameras). Many of these methods are available through lowcost sensor systems that are simple and fast to use. We propose a simple experimental setup and a processing chain in order to evaluate the quality of the data recorded by these systems. In an experiment with students we demonstrate the usability of this approach and introduce results for selected lowcost sensors.

Hybridization of structured light and TimeofFlight sensing using maximum a posteriori Markov Random Fields The optimization of the 3D laser scanning system is a rapidly expanding field with applications ranging from autonomous driving to facial recognition. The two competing 3D sensing technologies of structured light (SL) and TimeofFlight (ToF) have inherent weaknesses with regards to their sensing capabilities: SL cameras are prone to errors at long ranges and have low depth resolution, and ToF cameras have scene dependent errors and are perpixel noisy. We propose a solution to overcome the contrasting weaknesses caused by multipath errors in ToF, and occlusion errors in SL. By combining both sets of data and applying belief propagation, we are able to decrease the effects of errors intrinsic to offtheshelf 3D laser scanners (using the Kinect V1 for SL and Kinect V2 for ToF).