DocumentCode :
263688
Title :
Calibration of 3D Sensors Using a Spherical Target
Author :
Minghao Ruan ; Huber, Daniel
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
1
fYear :
2014
fDate :
8-11 Dec. 2014
Firstpage :
187
Lastpage :
193
Abstract :
With the emergence of relatively low-cost real-time 3D imaging sensors, new applications for suites of 3D sensors are becoming practical. For example, 3D sensors in an industrial robotic work cell can monitor workers´ positions to ensure their safety. This paper introduces a simple-to-use method for extrinsic calibration of multiple 3D sensors observing a common workspace. Traditional planar target camera calibration techniques are not well-suited for such situations, because multiple cameras may not observe the same target. Our method uses a hand-held spherical target, which is imaged from various points within the workspace. The algorithm automatically detects the sphere in a sequence of views and simultaneously estimates the sphere centers and extrinsic parameters to align an arbitrary network of 3D sensors. We demonstrate the approach with examples of calibrating heterogeneous collections of 3D cameras and achieve better results than traditional, image-based calibration.
Keywords :
calibration; image sensors; image sequences; hand-held spherical target; image-based calibration; industrial robotic workcell; planar target camera calibration technique; real-time multiple 3D imaging sensor; safety; Calibration; Cameras; Equations; Image sensors; Mathematical model; Sensors; Three-dimensional displays; MLE optimization; calibration; spherical target;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
3D Vision (3DV), 2014 2nd International Conference on
Conference_Location :
Tokyo
Type :
conf
DOI :
10.1109/3DV.2014.100
Filename :
7035825
Link To Document :
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