Volumetric calibration and registration of RGBD-sensors

We present an integrated approach for the calibration and registration of color and depth (RGBD) sensors into a joint coordinate system without explicitly identifying intrinsic or extrinsic camera parameters. Our method employs a tracked checkerboard to establish a number of correspondences between positions in color and depth camera space and in world space. These correspondences are used to construct a single calibration and registration volume per RGBD sensor which directly maps raw depth sensor values into a joint coordinate system and to their associated color values. Our evaluation demonstrates an accuracy with an average 3D error below 3 mm and an average texture deviation smaller than 0.5 pixels for a space of about 1.5 m × 1.8 m × 1.5 m.