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Medical-grade Sterilizable Target for Fluid-immersed Fetoscope Optical Distortion Calibration
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Joint depth and color camera calibration with distortion correction.

Daniel Herrera C1, Juho Kannala, Janne Heikkilä

  • 1Department of Electrical and Information Engineering, University of Oulu, PO Box 4500, FI-90014. Finland. dherrera@ee.oulu.f.i

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|May 30, 2012
PubMed
Summary

This study introduces a new algorithm for calibrating multiple cameras, improving 3D sensing accuracy. The method is robust, practical, and enhances sensor performance for various applications.

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Area of Science:

  • Computer Vision
  • Robotics
  • Sensor Fusion

Background:

  • Accurate calibration of multi-camera systems is crucial for 3D reconstruction and robotic perception.
  • Existing methods often require complex setups or are sensitive to noise and depth discontinuities.

Purpose of the Study:

  • To develop a simultaneous calibration algorithm for color and depth cameras, including their relative poses.
  • To create a method that is accurate, practical, and broadly applicable to diverse sensors.
  • To improve upon existing calibration techniques, particularly for depth sensors like Kinect.

Main Methods:

  • The algorithm uses a single planar surface imaged from multiple viewpoints for calibration.
  • It avoids using depth discontinuities, enhancing robustness to noise.
  • A new depth distortion model was developed and applied to a Kinect device.

Main Results:

  • The proposed method achieved accurate and robust calibration of color and depth cameras.
  • Experiments demonstrated improved accuracy compared to the manufacturer's calibration for a Kinect device.
  • The approach proved flexible and applicable to a wide range of sensors.

Conclusions:

  • The presented algorithm offers an accurate and practical solution for multi-camera calibration.
  • The method's robustness to noise and independence from depth discontinuities make it widely applicable.
  • This work contributes to enhanced performance in 3D sensing and robotic applications.