Fully automatic extrinsic calibration of RGB-D system using two views of natural scene

2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Volumn , Issue , 2014, Pages 894-900

  Devaux, Jean Clement ^a   Hadj Abdelkader, Hicham ^a   Colle, Etienne ^a  

^a UNIVERSITY OF EVRY   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CALIBRATION; CAMERAS; COMPUTER VISION; RANGE FINDERS;

CALIBRATION PATTERNS; CONVENTIONAL CAMERA; EXTRINSIC CALIBRATION; EXTRINSIC PARAMETER; MOBILE OBJECT TRACKING; RIGID TRANSFORMATIONS; ROBOTICS APPLICATIONS; SIMULTANEOUS LOCALIZATION AND MAPPING;

ROBOTICS;

EID: 84949925738     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICARCV.2014.7064423     Document Type: Conference Paper

References (24)

1. N. A. Thacker and J. E. Mayhew, "Optimal combination of stereo camera calibration from arbitrary stereo images", Image and vision computing, vol. 9, no. 1, pp. 27-32, 1991.
2. R. Hartley and A. Zisserman, Multiple view geometry in computer vision. Cambridge Univ Press, 2000, vol. 2.
3. O. Faugeras, Three dimensional computer vision: A geometric viewpoint. the MIT Press, 1993.
4. Z. Zhang, "Flexible camera calibration by viewing a plane from unknown orientations", in International Conference on Computer Vision, vol. 1, Corfu, Greece, September, 20-25 1999, p. 666.
5. -, "A flexible new technique for camera calibration", IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, pp. 1330-1334, 2000.
6. G. Xu and Z. Zhang, Epipolar geometry in stereo, motion and object recognition: a unified approach. Springer, 1996, vol. 6.
7. Q. Zhang and R. Pless, "Extrinsic calibration of a camera and laser range finder (improves camera calibration)", in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3. IEEE, 2004, pp. 2301-2306.
8. R. Unnikrishnan and M. Hebert, "Fast extrinsic calibration of a laser rangefinder to a camera", Carnegie Mellon Robotics Institute, Tech. Rep., 2005.
9. R. Unnikrishnan, "Laser-camera calibration toolbox for matlab (lcct)", Carnegie Mellon Robotics Institute, Tech. Rep., 2006.
10. C. Herrera, J. Kannala et al., "Joint depth and color camera calibration with distortion correction", Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 34, no. 10, pp. 2058-2064, 2012.
11. D. Scaramuzza, A. Harati, and R. Siegwart, "Extrinsic self calibration of a camera and a 3d laser range finder from natural scenes", in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on. IEEE, 2007, pp. 4164-4169.
12. A. Geiger, F. Moosmann, O. Car, and B. Schuster, "Automatic camera and range sensor calibration using a single shot", in ICRA. IEEE, 2012, pp. 3936-3943.
13. D. W. Marquardt, "An algorithm for least-squares estimation of nonlinear parameters", SIAM Journal on Applied Mathematics, vol. 11, no. 2, pp. 431-441, 1963.
14. K. Levenberg, "A method for the solution of certain problems in least squares", Quart. Applied Math., vol. 2, pp. 164-168, 1944.
15. K. Khoshelham and S. O. Elberink, "Accuracy and resolution of kinect depth data for indoor mapping applications", Sensors, vol. 12, no. 2, pp. 1437-1454, 2012.
16. J. Smisek, M. Jancosek, and T. Pajdla, "3d with kinect", in Consumer Depth Cameras for Computer Vision. Springer, 2013, pp. 3-25.
17. A. Teichman, S. Miller, and S. Thrun, "Unsupervised intrinsic calibration of depth sensors via slam", in Robotics: Science and Systems (RSS), 2013.
18. H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool, "Speeded-up robust features (surf)", Computer vision and image understanding, vol. 110, no. 3, pp. 346-359, 2008.
19. J. Bauer, N. Sunderhauf, and P. Protzel, "Comparing several implementations of two recently published feature detectors", in Proc. of the International Conference on Intelligent and Autonomous Systems, IAV, Toulouse, France, 2007, pp. 224-227.
20. B. Kitt, A. Geiger, and H. Lategahn, "Visual odometry based on stereo image sequences with ransac-based outlier rejection scheme", in Intelligent Vehicles Symposium (IV), 2010 IEEE. IEEE, 2010, pp. 486-492.
21. J. Ilonen and V. Kyrki, "Robust robot-camera calibration", in Advanced Robotics (ICAR), 2011 15th International Conference on. IEEE, 2011, pp. 67-74.
22. A. Jordt, N. T. Siebel, and G. Sommer, "Automatic high-precision self-calibration of camera-robot systems", in Robotics and Automation, 2009. ICRA'09. IEEE International Conference on. IEEE, 2009, pp. 1244-1249.
23. W. Kabsch, "A solution for the best rotation to relate two sets of vectors", Acta Crystallographica Section A: Crystal Physics, Diffraction, Theoretical and General Crystallography, vol. 32, no. 5, pp. 922-923, 1976.
24. S. Agarwal, K. Mierle, and Others, "Ceres solver", https://code.google.com/p/ceres-solver/.