Combining Time-Of-Flight depth and stereo images without accurate extrinsic calibration

We combine a low resolution Time-Of-Flight (TOF) depth image camera based on Photonic Mixer Devices with two standard cameras in a stereo configuration. We show that this approach is useful even without accurate calibration. In a graph cut approach, we use depth information from the low resolution TOF camera to initialise the domain, and colour information for accurate depth discontinuities in the high resolution depth image. The system is promising as it is low cost, and naturally extends to the setting of dynamic scenes, providing high frame rates.