Abstract
Depth cameras play a vital role in three-dimensional (3D) shape reconstruction, machine vision, augmented/virtual reality and other visual information-related fields. However, a single depth camera cannot obtain complete information about an object by itself due to the limitation of the camera’s field of view. Multiple depth cameras can solve this problem by acquiring depth information from different viewpoints. In order to do so, they need to be calibrated to be able to accurately obtain the complete 3D information. However, traditional chessboard-based planar targets are not well suited for calibrating the relative orientations between multiple depth cameras, because the coordinates of different depth cameras need to be unified into a single coordinate system, and the multiple camera systems with a specific angle have a very small overlapping field of view. In this paper, we propose a 3D target-based multiple depth camera calibration method. Each plane of the 3D target is used to calibrate an independent depth camera. All planes of the 3D target are unified into a single coordinate system, which means the feature points on the calibration plane are also in one unified coordinate system. Using this 3D target, multiple depth cameras can be calibrated simultaneously. In this paper, a method of precise calibration using lidar is proposed. This method is not only applicable to the 3D target designed for the purposes of this paper, but it can also be applied to all 3D calibration objects consisting of planar chessboards. This method can significantly reduce the calibration error compared with traditional camera calibration methods. In addition, in order to reduce the influence of the infrared transmitter of the depth camera and improve its calibration accuracy, the calibration process of the depth camera is optimized. A series of calibration experiments were carried out, and the experimental results demonstrated the reliability and effectiveness of the proposed method.
Highlights
In recent years, the number of depth camera applications in our daily lives has increased dramatically with the reduction of equipment cost [1]
Multiple depth camera systems can potentially solve the above problems with accuracy and speed, and offer outstanding advantages compared to single depth cameras
In order to calibrate the relative orientation between multiple depth cameras simultaneously, In has order to calibrate the relative orientation between multiple depth cameras simultaneously, a into a 3D target been designed
Summary
The number of depth camera applications in our daily lives has increased dramatically with the reduction of equipment cost [1]. The active vision-based camera calibration method allows the calculation of the internal camera parameters without a calibration object, with only performing specific motions with the camera [6] The advantage of this method is its simple algorithm and robustness, but the difficulty of its application in multiple depth camera systems is higher due to the high cost of the system and the requirement of experimental setup. Sensors 2019, 19, x FOR PEER REVIEW cameras can simultaneously capture chessboard images in full camera field of view for calibration This 3D target allows the calibration of multiple depth cameras relative orientations with limited or combination of cameras in the multiple depth camera systems. The point cloudinisfull obtained scanning target with a cameras canfields simultaneously chessboard images cameraby field of viewthe for3D calibration This 3D target allows the calibration of multiple depth cameras at relative orientations with the limited and posture of the calibration accuratethe and reliable.
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