The Community for Technology Leaders
RSS Icon
Issue No.10 - Oct. (2012 vol.34)
pp: 2058-2064
Daniel Herrera C. , University of Oulu, Oulu
Juho Kannala , University of Oulu, Oulu
Janne Heikkilä , University of Oulu, Oulu
We present an algorithm that simultaneously calibrates two color cameras, a depth camera, and the relative pose between them. The method is designed to have three key features: accurate, practical, and applicable to a wide range of sensors. The method requires only a planar surface to be imaged from various poses. The calibration does not use depth discontinuities in the depth image, which makes it flexible and robust to noise. We apply this calibration to a Kinect device and present a new depth distortion model for the depth sensor. We perform experiments that show an improved accuracy with respect to the manufacturer's calibration.
Cameras, Calibration, Image color analysis, Mathematical model, Sensors, Optical distortion, Kinect., Camera calibration, depth camera, camera pair, distortion
Daniel Herrera C., Juho Kannala, Janne Heikkilä, "Joint Depth and Color Camera Calibration with Distortion Correction", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.34, no. 10, pp. 2058-2064, Oct. 2012, doi:10.1109/TPAMI.2012.125
[1] J. Heikkilä, "Geometric Camera Calibration Using Circular Control Points," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 22, no. 10, pp. 1066-1077, Oct. 2000.
[2] Z. Zhang, "A Flexible New Technique for Camera Calibration," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 22, no. 11, pp. 1330-1334, Nov. 2000.
[3] S. Fuchs and G. Hirzinger, "Extrinsic and Depth Calibration of ToF-Cameras," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 1-6, 2008.
[4] Q. Zhang and R. Pless, "Extrinsic Calibration of a Camera and Laser Range Finder (Improves Camera Calibration)," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, vol. 3, pp. 2301-2306, 2004.
[5] R. Unnikrishnan and M. Hebert, "Fast Extrinsic Calibration of a Laser Rangefinder to a Camera," Technical Report CMU-RI-TR-05-09, Robotics Inst., 2005.
[6] D. Scaramuzza, A. Harati, and R. Siegwart, "Extrinsic Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, pp. 4164-4169, 2007.
[7] M. Lindner and A. Kolb, "Calibration of the Intensity-Related Distance Error of the PMD TOF-Camera," Proc. SPIE: Intelligent Robots and Computer Vision XXV, vol. 6764, pp. 67640W-67640W-8, 2007.
[8] D. Lichti, "Self-Calibration of a 3D Range Camera," The Int'l Archives of the Pphotogrammetry, Remote Sensing, and Spatial Information Sciences, Part B, pp. 927-932, 2008.
[9] J. Zhu, L. Wang, R. Yang, and J. Davis, "Fusion of Time-of-Flight Depth and Stereo for High Accuracy Depth Maps," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 1-8, 2008.
[10] Y. Kim, D. Chan, C. Theobalt, and S. Thrun, "Design and Calibration of a Multi-View ToF Sensor Fusion System," Proc. IEEE CS Computer Vision and Pattern Recognition Workshops, 2008.
[11] Y. Cui, S. Schuon, D. Chan, S. Thrun, and C. Theobalt, "3D Shape Scanning with a Time-of-Flight Camera," Proc. IEEE Computer Vision and Pattern Recognition Workshops, pp. 1173-1180, 2010.
[12] J. Smíšek, M. Jančošek, and T. Pajdla, "3D with Kinect," Proc. IEEE Int'l Conf. Computer Vision Workshops, 2011.
[13] N. Burrus, "Kinect Calibration," KinectCalibration, Nov. 2011.
[14] D. Herrera, C.J. Kannala, and J. Heikkilä, "Accurate and Practical Calibration of a Depth and Color Camera Pair," Proc. 14th Int'l Conf. Computer Analysis of Images and Patterns,, pp. 437-445, 2011.
[15] C. Zhang and Z. Zhang, "Calibration between Depth and Color Sensors for Commodity Depth Cameras," Proc. Int'l Conf. Multimedia and Expo, 2011.
[16] J. Shotton, A. Fitzgibbon, M. Cook, and A. Blake, "Real-Time Human Pose Recognition in Parts from Single Depth Images," Proc. IEEE Computer Vision and Pattern Recognition, pp. 1297-1304, 2011.
[17] D. Brown, "Close-Range Camera Calibration," Photogrammetric Eng., vol. 37, no. 8, pp. 855-866, 1971.
[18] D. Barry, J.-Y. Parlange, L. Li, H. Prommer, C. Cunningham, and F. Stagnitti, "Analytical Approximations for Real Values of the Lambert W-Function," Math. and Computers in Simulation, vol. 53, nos. 1/2, pp. 95-103, 2000.
31 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool