Nonparametric calibration for depth sensors

In this paper, we propose a quick and easy approach to estimate the undistortion function of RGBD sensors. Our method does not rely on the knowledge of the sensor model, on the use of a specific calibration pattern or on external SLAM systems to track the device position.We compute a nonparametric approximation of the undistortion function by applying regression methods to calibration data that can be acquired wherever a sufficiently large planar surface is observed. The procedure is fast, easy, and be used on-line. Experimental results show a significant improvement when using undistorted images in applications like mapping.