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arXiv · 1807.07856

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

Hang Liu·Hengyu Li·Xiahua Liu·Jun Luo·Shaorong Xie·Yu Sun
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Abstract

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D mapping and robot navigation that can benefit from a 360$^\circ$ field of view using 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, both superior to those of existing methods (800 ms vs. 5 seconds; rotation error of 0.56 degrees vs. 1.6 degrees; and translation error of 1.80 cm vs. 2.5 cm.

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Hang Liu, Hengyu Li, Xiahua Liu, Jun Luo, Shaorong Xie, Yu Sun. 2018-07-14. A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns. https://arxiv.org/abs/1807.07856

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