Nonparametric Calibration for Depth Sensors

  • Maurilio Di Cicco
  • Luca Iocchi
  • Giorgio Grisetti
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


In this paper, we propose a quick and easy approach to estimate the undistortion function of RGBD sensors. Our method does not rely on the knowledge of the sensor model, on the use of a specific calibration pattern or on external SLAM systems to track the device position. We compute a nonparametric approximation of the undistortion function by applying regression methods to calibration data that can be acquired wherever a sufficiently large planar surface is observed. The procedure is fast, easy, and be used on-line. Experimental results show a significant improvement when using undistorted images in applications like mapping.





This work has been partially funded by ROVINA (FP7-ICT-2011-600890).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Maurilio Di Cicco
    • 1
  • Luca Iocchi
    • 1
  • Giorgio Grisetti
    • 1
  1. 1.Dept. of Computer, Control and Management EngineeringSapienza University of RomeRomeItaly

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