Calibration of depth cameras using denoised depth images
Depth sensing devices have created various new applications in scientific and commercial research with the advent of Microsoft Kinect and PMD (Photon Mixing Device) cameras. Most of these applications require the depth cameras to be pre-calibrated. However, traditional calibration methods using a checkerboard do not work very well for depth cameras due to the low image resolution. In this paper, we propose a depth calibration scheme which excels in estimating camera calibration parameters when only a handful of corners and calibration images are available. We exploit the noise properties of PMD devices to denoise depth measurements and perform camera calibration using the denoised depth as an additional set of measurements. Our synthetic and real experiments show that our depth denoising and depth based calibration scheme provides significantly better results than traditional calibration methods.
Code (0)
등록된 구현이 없습니다.
Tasks
Camera CalibrationDenoisingSimilar Papers 제목 키워드 기반
Cross-calibration of Time-of-flight and Colour Cameras
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a cohe…
A study on improving the calibration of body scanner built on multiple RGB-Depth cameras
Purpose The calibration is a key but cumbersome process for 3D body scanning using multiple depth cameras. The purpose of this paper is to simplify the calibration process by introducing a new method to calibrate the ex…
Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properti…
Extending Foundational Monocular Depth Estimators to Fisheye Cameras with Calibration Tokens
We propose a method to extend foundational monocular depth estimators (FMDEs), trained on perspective images, to fisheye images. Despite being trained on tens of millions of images, FMDEs are susceptible to the covariate…
Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras
We describe an approach for simultaneous localization and calibration of a stream of range images. Our approach jointly optimizes the camera trajectory and a calibration function that corrects the camera's unknown nonlin…