Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic calibration that generally does not meet the accuracy requirements needed by many robotics applications [e.g., highly accurate three-dimensional (3-D) environment reconstruction and mapping, high precision object recognition, localization, etc.]. In this paper, we propose a human-friendly, reliable, and accurate calibration framework that enables to easily estimate both the intrinsic and extrinsic parameters of a general color-depth sensor couple. Our approach is based on a novel two components error model. This model unifies the error sources of RGB-D pairs based on different technologies, such as structured-light 3-D cameras and time-of-flight cameras. Our method provides some important advantages compared to other state-of-the-art systems: It is general (i.e., well suited for different types of sensors), based on an easy and stable calibration protocol, provides a greater calibration accuracy, and has been implemented within the robot operating system robotics framework. We report detailed experimental validations and performance comparisons to support our statements.
Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras / Basso, Filippo; Menegatti, Emanuele; Pretto, Alberto. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 34:5(2018), pp. 1315-1332.
|Titolo:||Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras|
PRETTO, ALBERTO (Corresponding author)
|Data di pubblicazione:||2018|
|Citazione:||Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras / Basso, Filippo; Menegatti, Emanuele; Pretto, Alberto. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 34:5(2018), pp. 1315-1332.|
|Appartiene alla tipologia:||01a Articolo in rivista|
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