Extrinsic and Depth Calibration of ToF-Cameras
Abstract
Recently, ToF-cameras have attracted attention because of their ability to generate a full 2 1/2D depth image at video frame rates. Thus, ToF-cameras are suitable for real-time 3D tasks such as tracking, visual servoing or object pose estimation. The usability of such systems mainly depends on an accurate camera calibration. In this work a calibration process for ToF-cameras with respect to the intrinsic parameters, the depth measurement distortion and the pose of the camera relative to a robotpsilas end effector is described. The calibration process is not only based on the monochromatic images of the camera but also uses its depth values that are generated from a chequer-board pattern. The robustness and precision of the presented method is assessed applying it to randomly selected shots and comparing the calibrated measurements to a ground truth obtained from a laser scanner.
Cite
Text
Fuchs and Hirzinger. "Extrinsic and Depth Calibration of ToF-Cameras." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2008. doi:10.1109/CVPR.2008.4587828Markdown
[Fuchs and Hirzinger. "Extrinsic and Depth Calibration of ToF-Cameras." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2008.](https://mlanthology.org/cvpr/2008/fuchs2008cvpr-extrinsic/) doi:10.1109/CVPR.2008.4587828BibTeX
@inproceedings{fuchs2008cvpr-extrinsic,
title = {{Extrinsic and Depth Calibration of ToF-Cameras}},
author = {Fuchs, Stefan and Hirzinger, Gerd},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {2008},
doi = {10.1109/CVPR.2008.4587828},
url = {https://mlanthology.org/cvpr/2008/fuchs2008cvpr-extrinsic/}
}