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Approach for accurate calibration of RGB-D cameras using spheres
Liu HY(刘鸿雁)1,2,3; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4; Zou FS(邹风山)4; Song JL(宋吉来)4; Jia K(贾凯)1,2,4
Department其他
Source PublicationOPTICS EXPRESS
ISSN1094-4087
2020
Volume28Issue:13Pages:19058-19073
Indexed BySCI ; EI
EI Accession number20202808911979
WOS IDWOS:000545130800038
Contribution Rank1
Funding OrganizationScience and Technology Plan of Liaoning Province [2019JH1/10100005] ; National Key Research and Development Program of China [2017YFB1301100]
Abstract

RGB-D cameras (or color-depth cameras) play key roles in many vision applications. A typical RGB-D camera has only rough intrinsic and extrinsic calibrations that cannot provide the accuracy required in many vision applications. In this paper, we propose a novel and accurate sphere-based calibration framework tbr estimating the intrinsic and extrinsic parameters of color-depth sensor pair. Additionally, a method of depth error correction is suggested, and the principle of error correction is analyzed in detail. In our method, the feature extraction module can automatically and reliably detect the center and edges of the sphere projection, while excluding noise data and outliers, and the projection of the sphere center on RGB and depth images is used to obtain a closed solution of the initial parameters. Finally, all the parameters are accurately estimated within the framework of nonlinear global minimization. Compared to other state-of-the-art methods, our calibration method is easy to use and provides higher calibration accuracy. Detailed experimental analysis is performed to support our conclusions. (C) 2020 Optical Society of America under the terms of the OSA Open Access Publishing Agreement

Language英语
WOS SubjectOptics
WOS KeywordEXTRINSIC CALIBRATION ; DEPTH
WOS Research AreaOptics
Funding ProjectScience and Technology Plan of Liaoning Province[2019JH1/10100005] ; National Key Research and Development Program of China[2017YFB1301100]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27338
Collection其他
Corresponding AuthorLiu HY(刘鸿雁)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.SIASUN Robot & Automation CO., Ltd, Shenyang 110169, China
Recommended Citation
GB/T 7714
Liu HY,Qu DK,Xu F,et al. Approach for accurate calibration of RGB-D cameras using spheres[J]. OPTICS EXPRESS,2020,28(13):19058-19073.
APA Liu HY,Qu DK,Xu F,Zou FS,Song JL,&Jia K.(2020).Approach for accurate calibration of RGB-D cameras using spheres.OPTICS EXPRESS,28(13),19058-19073.
MLA Liu HY,et al."Approach for accurate calibration of RGB-D cameras using spheres".OPTICS EXPRESS 28.13(2020):19058-19073.
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