Calibrating Non-overlapping RGB-D Cameras

In this paper, we propose a novel method of calibrating non-overlapping RGB-D cameras using one chessboard fixed with a laser pointer. A laser pointer is fixed at one calibration board so that its pose at the coordinate system of the calibration board can be obtained easily. While one of the RGB-D cameras observes the calibration board fixed with the laser pointer, the laser pointer project a spot to the scene which is observed by the other. Thus, two 3D points, respectively located in the field of views of the two RGB-D cameras, are connected by a laser ray. The relative pose of two RGB-D cameras can be estimated through this collinear constraint. The experiment results show the effectiveness of the proposed method.