Abstract
The paper presents a calibration procedure of a 3D scene reconstruction system consisting of an active depth sensor (Structure Sensor) and a stereo camera with a wide view angle lenses. The wide angle lenses with large radial distortions used in the stereoscopic part of the system require application of a fish-eye model for correcting geometric distortions while for the infrared camera of the Structure Sensor a traditional pinhole model is sufficient. Calibration of the system comprises also a procedure for correcting depth distortions introduced by the Structure Sensor device. A simple yet efficient method for calibrating the cameras using functions provided by OpenCV library is proposed. The system is a part of a device helping visually impaired people to navigate in the environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Caraiman, S., et al.: Computer vision for the visually impaired: the sound of vision system. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 1480–1489 (2017)
Dal Mutto, C., Zanuttigh, P., Cortelazzo, G.M.: Time-of-Flight Cameras and Microsoft Kinect\(^{\rm TM}\). Springer, New York (2012). https://doi.org/10.1007/978-1-4614-3807-6
Darwish, W., Tang, S., Li, W., Chen, W.: A new calibration method for commercial RGB-D sensors. Sensors 17(6), 1204 (2017). Calibration
Hansard, M., Lee, S., Choi, O., Horaud, R.P.: Time-of-Flight Cameras: Principles, Methods and Applications. Springer, London (2013). https://doi.org/10.1007/978-1-4471-4658-2
Herrera, D., Kannala, J., Heikkilä, J.: Joint depth and color camera calibration with distortion correction. IEEE Trans. Pattern Anal. Mach. Intell. 34(10), 2058–2064 (2012)
Herrera, C.D., Kannala, J., Heikkilä, J.: Accurate and practical calibration of a depth and color camera pair. In: Real, P., Diaz-Pernil, D., Molina-Abril, H., Berciano, A., Kropatsch, W. (eds.) CAIP 2011. LNCS, vol. 6855, pp. 437–445. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-23678-5_52
Smisek, J., Jancosek, M., Pajdla, T.: 3D with kinect. In: 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops), pp. 1154–1160 (2011)
Kannala, J., Brandt, S.S.: A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses. IEEE Trans. Pattern Anal. Mach. Intell. 28(8), 1335–1340 (2006)
Karan, B.: Calibration of depth measurement model for kinect-type 3D vision sensors (2013)
Karan, B.: Calibration of kinect-type RGB-D sensors for robotic applications. FME Trans. 43(1), 47–54 (2015)
Rzeszotarski, D., Pełczyński, P.: Software application for calibration of stereoscopic camera setups. Metrol. Meas. Syst. 19(4), 805–816 (2012)
Sell, J., O’Connor, P.: The xbox one system on a chip and kinect sensor. IEEE Micro 34(2), 44–53 (2014)
Zhang, C., Zhang, Z.: Calibration between depth and color sensors for commodity depth cameras. In: Shao, L., Han, J., Kohli, P., Zhang, Z. (eds.) Computer Vision and Machine Learning with RGB-D Sensors. ACVPR, pp. 47–64. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-08651-4_3
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Switzerland AG
About this paper
Cite this paper
Rzeszotarski, D., Strumillo, P. (2018). An Integrated Procedure for Calibrating and Distortion Correction of the Structure Sensor and Stereo-Vision Depth Sensors. In: Chmielewski, L., Kozera, R., Orłowski, A., Wojciechowski, K., Bruckstein, A., Petkov, N. (eds) Computer Vision and Graphics. ICCVG 2018. Lecture Notes in Computer Science(), vol 11114. Springer, Cham. https://doi.org/10.1007/978-3-030-00692-1_20
Download citation
DOI: https://doi.org/10.1007/978-3-030-00692-1_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00691-4
Online ISBN: 978-3-030-00692-1
eBook Packages: Computer ScienceComputer Science (R0)