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A novel 2.5D pattern for extrinsic calibration of ToF and camera fusion system

Cited 19 time in Web of Science Cited 25 time in Scopus
Authors

Jung, Jiyoung; Jeong, Yekeun; Park, Jaesik; Ha, Hyowon; Kim, James Dokyoon; Kweon, In-So

Issue Date
2011
Publisher
IEEE
Citation
IEEE International Conference on Intelligent Robots and Systems, pp.3290-3296
Abstract
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. © 2011 IEEE.
ISSN
2153-0858
URI
https://hdl.handle.net/10371/201337
DOI
https://doi.org/10.1109/IROS.2011.6048877
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  • College of Engineering
  • Dept. of Computer Science and Engineering
Research Area Computer Graphics, Computer Vision, Machine Learning, Robotics

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