The PMD(photonic mixer device) camera is a three-dimensional imaging device based on TOF(time-of-flight)

which is able to obtain high-precision distance information with two-dimensional gray-scale images. However

it has some disadvantages

such as low horizontal resolution

big random noise

etc. In this paper

we fuse the PMD distance information and a high-resolution RGB image

proposing a new kind of data fusion method based on texture projection and bicubic interpolation with credibility. This method fully considers the relation between signal amplitude of the PMD camera and the credibility of the distance information

strengthening the influence of the fusion result by the precise distance information. Furthermore it has provided the reconstruction of PMD images in a world coordinate system through distance information

reducing the computational complexity. The experimental results show that this approach obtains high-resolution images with color information and distance information. The distance information of the fused image is more accurate and rich

and it has reduced the impact of random noise

and the run-time is less.