Authors:
Boris Bogaerts
1
;
Rudi Penne
1
;
Bart Ribbens
2
;
Seppe Sels
1
and
Steve Vanlanduit
1
Affiliations:
1
University of Antwerp, Belgium
;
2
University of Antwerp and Kael de Grote University College, Belgium
Keyword(s):
Range Camera, Extrinsic Calibration, Motion Estimation, Conjugacy Invariants.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Device Calibration, Characterization and Modeling
;
Geometry and Modeling
;
Image and Video Analysis
;
Image Formation and Preprocessing
;
Image Formation, Acquisition Devices and Sensors
;
Image Registration
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Software Engineering
;
Tracking and Visual Navigation
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.