Time-of-flightカメラとカラーカメラの相互キャリブレーション
Cross-calibration of Time-of-flight and Colour Cameras
深度カメラとカラーカメラの視点・解像度・視野の違いを幾何学的に統合するキャリブレーション手法を提案し、再投影誤差をキャリブレーション成分とセンサ依存成分に分解する評価法を開発した。
著者: Miles Hansard, Georgios Evangelidis, Quentin Pelorson, Radu Horaud
分類: cs.CV, cs.RO
原文アブストラクト
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene representation. However, the individual cameras will have different viewpoints, resolutions and fields of view, which means that they must be mutually calibrated. This paper presents a geometric framework for this multi-view and multi-modal calibration problem. It is shown that three-dimensional projective transformations can be used to align depth and parallax-based representations of the scene, with or without Euclidean reconstruction. A new evaluation procedure is also developed; this allows the reprojection error to be decomposed into calibration and sensor-dependent components. The complete approach is demonstrated on a network of three time-of-flight and six colour cameras. The applications of such a system, to a range of automatic scene-interpretation problems, are discussed.
