A new method for calibrating depth and color camera pair based on Kinect

In this paper, we present a method that can calibrates color camera and depth camera of Kinect simultaneously, and finally get the relative pose between them. The calibration process for color camera and depth camera is designed by taking advantage of two different method respectively. As we know, the depth information can be acquired readily from the depth image, however, under the consideration of the fuzzy boundary and the overlapping of object in depth image, we choose using one-dimensional object for calibrating depth camera and propose a nonlinear method to optimize its intrinsic parameter. As for color camera calibration, we design a cross shape object for calibration and validation. Both methods are strongly robust to noise and much easier to implement. The experiment result shows a better accuracy in comparison with the proprietary calibration procedure of the manufacturer.