We propose a real-time mapping procedure for data matching to deal with hybrid time-of-flight (ToF) multi-camera rig data fusion. Our approach takes advantage of the depth information provided by the ToF camera to calculate the distance-dependent disparity between the two cameras that constitute the system. As a consequence, the not co-centric binocular system behaves as a co-centric system with co-linear optical axes between their sensors. The association between mapped and non-mapped image coordinates can be described by a set of look-up tables. This, in turn, reduces the complexity of the whole process to a simple indexing step, and thus, performs in real-time. The experimental results show that in addition to being straightforward and easy to compute, our proposed data matching approach is highly accurate which facilitates further fusion operations.
2012. Vol. 6, 425-436 p.