Digital Representations of the Real World

56 Digital Representations of the Real World

it increases on the periphery of the sensor or when depth measurements

are collected further away from the unit [Khoshelham and Elberink 12]. In-

terestingly, the error seems also to be stronger when depth measurements

are collected close to the camera sensor [Smisek et al. 11]. There are sev-

eral approaches to handle the systematic error, including the one presented

in [Smisek et al. 11]. [Herrera C. et al. 12] proposed a distortion model to

correct the systematic unit error. A different approach is introduced by [Ya-

mazoe et al. 12]. The general principle beyond their calibration routine is

that, as the SL principle is based on both emitter and receiver, the intrin-

sic parameters of both the IR camera ...