mlsanityData to 7 Oct 2026

iToF2dToF: A Robust and Flexible Representation for Data-Driven Time-of-Flight Imaging

arXiv 2103.07087 ↗First posted 12 Mar 2021cs.CV eess.IVcited by 11

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Abstract (arXiv)

Indirect Time-of-Flight (iToF) cameras are a promising depth sensing technology. However, they are prone to errors caused by multi-path interference (MPI) and low signal-to-noise ratio (SNR). Traditional methods, after denoising, mitigate MPI by estimating a transient image that encodes depths. Recently, data-driven methods that jointly denoise and mitigate MPI have become state-of-the-art without using the intermediate transient representation. In this paper, we propose to revisit the transient representation. Using data-driven priors, we interpolate/extrapolate iToF frequencies and use them to estimate the transient image. Given direct ToF (dToF) sensors capture transient images, we name our method iToF2dToF. The transient representation is flexible. It can be integrated with different rule-based depth sensing algorithms that are robust to low SNR and can deal with ambiguous scenarios that arise in practice (e.g., specular MPI, optical cross-talk). We demonstrate the benefits of iToF2dToF over previous methods in real depth sensing scenarios.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 16 of its 66 references that are in the map. First posted on arXiv 12 Mar 2021.

Builds on

16 of 66 references.

References · 16

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4 more
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Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 2; 2023: 1; 2024: 2; 2025: 2; 2026: 2.

11 papers.

  1. 2022Consistent Direct Time-of-Flight Video Depth Super-Resolutioncited by 16
  2. 2024RGB Guided ToF Imaging System: A Survey of Deep Learning-based Methodscited by 8
  3. 2021RADU: Ray-Aligned Depth Update Convolutions for ToF Data Denoisingcited by 5
  4. 2023Count-Free Single-Photon 3D Imaging with Race Logiccited by 4
  5. 2024Single-Photon 3D Imaging with Equi-Depth Photon Histogramscited by 3
  6. 2021Lightweight Deep Learning Architecture for MPI Correction and Transient Reconstructioncited by 1
  7. 2022Weakly-Supervised Optical Flow Estimation for Time-of-Flightcited by 1
  8. 2025Consistent Time-of-Flight Depth Denoising via Graph-Informed Geometric Attentioncited by 1
  9. 2025Shoot-Bounce-3D: Single-Shot Occlusion-Aware 3D from Lidar by Decomposing Two-Bounce Lightcited by 1
  10. 2026High-Flux Count-Free Single-Photon 3D Camerascited by 0
  11. 2026Reliable iToF Depth Sensing via Sensor-Intrinsic Uncertainty Modeling and State-Space Restorationcited by 0