Simultaneous calibration: a joint optimization approach for multiple Kinect and external cameras
journal contributionposted on 09.10.2019, 07:43 by Yajie Liao, Ying Sun, Gongfa Li, Jianyi Kong, Guozhang Jiang, Du Jiang, Haibin CaiHaibin Cai, Zhaojie Ju, Hui Yu, Honghai Liu
Camera calibration is a crucial problem in many applications, such as 3D reconstruction, structure from motion, object tracking and face alignment. Numerous methods have been proposed to solve the above problem with good performance in the last few decades. However, few methods are targeted at joint calibration of multi-sensors (more than four devices), which normally is a practical issue in the real-time systems. In this paper, we propose a novel method and a corresponding workflow framework to simultaneously calibrate relative poses of a Kinect and three external cameras. By optimizing the final cost function and adding corresponding weights to the external cameras in different locations, an effective joint calibration of multiple devices is constructed. Furthermore, the method is tested in a practical platform, and experiment results show that the proposed joint calibration method can achieve a satisfactory performance in a project real-time system and its accuracy is higher than the manufacturer’s calibration.
National Natural Science Foundation of China (Grant No. 51575407, 51575338, 61273106, 51575412)
EU Seventh Framework Programme (Grant No. 611391)
Wuhan University of Science and Technology graduate students’ short-term study abroad special funds
- Computer Science