Relative Pose Improvement of Sphere based RGB-D Calibration

David J. T. Boas, Sergii Poltaretskyi, Jean-Yves Ramel, Jean Chaoui, Julien Berhouet, Mohamed Slimane

2019

Abstract

RGB-Depth calibration refers to the estimation of both RGB and Depth camera parameters, as well as their relative pose. This step is critical to align streams correctly. However, in the literature there is still no general method for accurate RGB-D calibration. Recently, promising methods proposed to use spheres to perform the calibration, the centers of these objects being well distinguishable by both cameras. This paper proposes a new minimization function which constrains spheres centers positions by requiring the knowledge of sphere radius, and a previously calibrated RGB camera. We show the limits of previous approaches and their correction with the proposed method. Results demonstrate an improvement in relative pose estimation compared to the original method on the selected datasets.

Paper Citation

in Harvard Style

Boas D., Poltaretskyi S., Ramel J., Chaoui J., Berhouet J. and Slimane M. (2019). Relative Pose Improvement of Sphere based RGB-D Calibration. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 91-98. DOI: 10.5220/0007309700910098

in Bibtex Style

@conference{visapp19,
author={David J. T. Boas and Sergii Poltaretskyi and Jean-Yves Ramel and Jean Chaoui and Julien Berhouet and Mohamed Slimane},
title={Relative Pose Improvement of Sphere based RGB-D Calibration},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP},
year={2019},
pages={91-98},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007309700910098},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 4: VISAPP
TI - Relative Pose Improvement of Sphere based RGB-D Calibration
SN - 978-989-758-354-4
AU - Boas D.
AU - Poltaretskyi S.
AU - Ramel J.
AU - Chaoui J.
AU - Berhouet J.
AU - Slimane M.
PY - 2019
SP - 91
EP - 98
DO - 10.5220/0007309700910098
PB - SciTePress