A novel 2.5D pattern for extrinsic calibration of tof and camera fusion system
- Resource Type
- Conference
- Authors
- Jung, Jiyoung; Jeong, Yekeun; Park, Jaesik; Ha, Hyowon; Kim, James Dokyoon; Kweon, In-So
- Source
- 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. :3290-3296 Sep, 2011
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Power, Energy and Industry Applications
Components, Circuits, Devices and Systems
Communication, Networking and Broadcast Technologies
Computing and Processing
Cameras
Calibration
Three dimensional displays
Image color analysis
Color
Measurement by laser beam
Image resolution
- Language
- ISSN
- 2153-0858
2153-0866
Recently, many researchers have made efforts for accurate calibration of a Time-of-Flight camera to fully utilize its provided depth values. Yet most previous works focus mainly on intrinsic calibration by modeling its systematic errors and noises while extrinsic calibration is also an important factor when constructing sensor fusion system. In this paper, we present a calibration process that can correctly transfer the depth measurements onto the color image. We use 2.5D pattern so that sufficient reprojection error can be considered for both color and ToF cameras. The issues on obtaining the correct correspondences for this pattern are discussed. In the optimization stage, the depth constraint is also employed to ensure the depth measurements to lie on the pattern plane. The strengths of the proposed method over previous approaches are evaluated in several robotic applications which require precise ToF and camera calibration.