Detecting interference in depth images captured using overlapping depth cameras

Abstract

Discrete frequencies and time slots of operation are assigned to each of a plurality of time-of-flight cameras. Where two time-of-flight cameras having overlapping fields of view, whether the time-of-flight cameras are operating at the same frequency or time slot is determined by calculating ratios of zero-value pixels to total numbers of pixels for each depth image captured by the time-of-flight cameras over a selected interval. If the time-of-flight cameras operate at the same frequency or time slot, a plot of the ratios of depth images captured using one time-of-flight camera is erratically sinusoidal. Another time-of-flight camera causing the interference may be identified among time-of-flight cameras operating at the frequency or time slot, based on areas of interest that overlap with the time-of-flight camera, or based on a time at which the time-of-flight cameras began capturing depth images, as compared to a time at which the interference is observed.