Figure 8

Simplification of the steps in the algorithm. (left) The analytical function of a spline is used to assess the shifting of the depth image in order to match the color image. This assessment has to be done for every depth-color pair. In other words, Equation 4 needs to be mathematically solved using the parameters found in steps (i) to (iv). (right) Using the parameters found in steps (i) to (iv), the spline surfaces of Equation 4 are built and stored in memory. Therefore, Equation 4 needs no longer to be solved for every depth-color pair. Instead, the surfaces are evaluated at needing.