New Error Measures for Evaluating Algorithms that Estimate the Motion of a Range Camera

Boris Bogaerts, Rudi Penne, Bart Ribbens, Seppe Sels, Steve Vanlanduit

2018

Abstract

We compare the classical point-based algorithms for the extrinsic calibration of a range camera to the recent plane-based method. This method does not require any feature detection, and appears to perform well using a small number of planes (minimally 3). In order to evaluate the accuracy of the computed rigid motion we propose two new error metrics that get direct access to the ground truth provided by a mechanism with reliable motion control. Furthermore, these error metrics do not depend on an additional hand-eye calibration between the mechanism and the sensor. By means of our objective measures, we demonstrate that the plane-based method outperforms the point-based methods that operate on 3-D or 2-D point correspondences. In our experiments we used two types of TOF cameras attached to a robot arm, but our evaluation tool applies to other sensors and moving systems.

Paper Citation

in Harvard Style

Bogaerts B., Penne R., Ribbens B., Sels S. and Vanlanduit S. (2018). New Error Measures for Evaluating Algorithms that Estimate the Motion of a Range Camera. In Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP; ISBN 978-989-758-290-5, SciTePress, pages 508-515. DOI: 10.5220/0006510005080515

in Bibtex Style

@conference{visapp18,
author={Boris Bogaerts and Rudi Penne and Bart Ribbens and Seppe Sels and Steve Vanlanduit},
title={New Error Measures for Evaluating Algorithms that Estimate the Motion of a Range Camera},
booktitle={Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP},
year={2018},
pages={508-515},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006510005080515},
isbn={978-989-758-290-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP
TI - New Error Measures for Evaluating Algorithms that Estimate the Motion of a Range Camera
SN - 978-989-758-290-5
AU - Bogaerts B.
AU - Penne R.
AU - Ribbens B.
AU - Sels S.
AU - Vanlanduit S.
PY - 2018
SP - 508
EP - 515
DO - 10.5220/0006510005080515
PB - SciTePress