A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns

Sensors

Xiahua Liu¹  Shaorong Xie²  Hang Liu²  Yu Sun²  Jun Luo²  Hengyu Li² 

[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China;

关键词: camera calibration;    depth sensors;    3D vision;    omnidirectional vision;   

DOI  :  10.3390/s19020349

来源: DOAJ

【 摘 要 】

This paper presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view. This calibration problem is relevant to applications such as indoor 3D mapping and robot navigation that can benefit from a wider field of view using multiple RGB-D cameras. The proposed approach relies on descriptor-based patterns to provide well-matched 2D keypoints in the case of a minimal overlapping field of view between cameras. Integrating the matched 2D keypoints with corresponding depth values, a set of 3D matched keypoints are constructed to calibrate multiple RGB-D cameras. Experiments validated the accuracy and efficiency of the proposed calibration approach.

【 授权许可】

Unknown