Calibration and Registration for Precise Surface Reconstruction with TOF Cameras
作者： Stefan Fuchs , Stefan May
DOI:
关键词:
摘要: This paper presents a method for precise surface recon- struction with time-of-flight (TOF) cameras. A novel calibration ap- proach which simplifies the task and doubles camera's precision is developed compared to current methods. Remaining errors are tackled by applying filter error distributing Thus, reference object circumferentially reconstructed an overall mean of approximately 3mm in translation 3 rotation. The resulting model serves as quantification achievable reconstruction TOF major criteria potential analysis this sensor technology, that firstly demon- strated within work.
robotic.de
researchgate.net 参考文章(12)
Fabio Remondino, Hilmar Ingensand, Timo Kahlmann, Calibration for increased accuracy of the range imaging camera SwissRanger Proceedings of the ISPRS Commission V Symposium 'Image Engineering and Vision Metrology'. pp. 136- 141 ,(2006) , 10.3929/ETHZ-B-000369707
T. Bodenmueller, G. Hirzinger, Online surface reconstruction from unorganized 3D-points for the DLR hand-guided scanner system international symposium on 3d data processing visualization and transmission. pp. 285- 292 ,(2004) , 10.1109/3DPVT.2004.91
Kazunori Ohno, Takafumi Nomura, Satoshi Tadokoro, Real-Time Robot Trajectory Estimation and 3D Map Construction using 3D Camera intelligent robots and systems. pp. 5279- 5285 ,(2006) , 10.1109/IROS.2006.282027
P.J. Besl, Neil D. McKay, A method for registration of 3-D shapes IEEE Transactions on Pattern Analysis and Machine Intelligence. ,vol. 14, pp. 239- 256 ,(1992) , 10.1109/34.121791
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, Hartmut Surmann, 6D SLAM—3D mapping outdoor environments Journal of Field Robotics. ,vol. 24, pp. 699- 722 ,(2007) , 10.1002/ROB.20209
Xiaoyi Jiang, Horst Bunke, Edge Detection in Range Images Based on Scan Line Approximation Computer Vision and Image Understanding. ,vol. 73, pp. 183- 199 ,(1999) , 10.1006/CVIU.1998.0715
Klaus Strobl, Gerd Hirzinger, Optimal Hand-Eye Calibration intelligent robots and systems. pp. 4647- 4653 ,(2006) , 10.1109/IROS.2006.282250
Michael Suppa, Simon Kielhofer, Jorg Langwald, Franz Hacker, Klaus H. Strobl, Gerd Hirzinger, The 3D-Modeller: A Multi-Purpose Vision Platform international conference on robotics and automation. pp. 781- 787 ,(2007) , 10.1109/ROBOT.2007.363081
Hartmut Surmann, Andreas Nüchter, Joachim Hertzberg, An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments Robotics and Autonomous Systems. ,vol. 45, pp. 181- 198 ,(2003) , 10.1016/J.ROBOT.2003.09.004
Z. Zhang, A flexible new technique for camera calibration IEEE Transactions on Pattern Analysis and Machine Intelligence. ,vol. 22, pp. 1330- 1334 ,(2000) , 10.1109/34.888718