The developing time-of-flight (TOF) camera is an attractive device for the robot vision system to capture real-time three-dimensional (3D) images, but the sensor suffers from the limit of low resolution and precision of images. This article proposes an approach to automatic generation of an imaging model in the 3D space for error correction. Through observation data, an initial coarse model of the depth image can be obtained for each TOF camera. Then, its accuracy is improved by an optimization method. Experiments are carried out using three TOF cameras. Results show that the accuracy is dramatically improved by the spatial correction model.