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Fast and Accurate Calibration of a Kinect Sensor
The article describes a new algorithm for calibrating a Kinect sensor that achieves high accuracy using only 6 to 10 image-disparity pairs of a planar checkerboard pattern. The method estimates the projection parameters for both color and depth cameras, the relative pose between them, and the function that converts kinect disparity units (kdu) into metric depth. We build on the recent work of Herrera et. al [8] that uses a large number of input frames and multiple iterative minimization steps for obtaining very accurate calibration results. We propose several modifications to this estimation pipeline that dramatically improve stability, usability, and runtime. The modifications consist in: (i) initializing the relative pose using a new minimal, optimal solution for registering 3D planes across different reference frames, (ii) including a metric constraint during the iterative refinement to avoid a drift in the disparity to depth conversion, and (iii) estimating the parameters of the depth distortion model in an open-loop post-processing step. Comparative experiments show that our pipeline can achieve a calibration accuracy similar to [8] while using less than 1/6 of the input frames and running in 1/30 of the time.
2016-01-12
3D with kinect
We analyze Kinect as a 3D measuring device, experimentally investigate depth measurement resolution and error properties, and make a quantitative comparison of Kinect accuracy with stereo reconstruction from SLR cameras and a 3D-TOF camera. We propose a Kinect geometrical model and its calibration procedure providing an accurate calibration of Kinect 3D measurement and Kinect cameras. We compare our Kinect calibration procedure with its alternatives available on Internet, and integrate it into an SfM pipeline where 3D measurements from a moving Kinect are transformed into a common coordinate system, by computing relative poses from matches in its color camera.
2016-01-12
硬盘安装win10、win8、win7工具(nt6 hdd installer v3.1.4)
硬盘安装win10、win8、win7工具(nt6 hdd installer v3.1.4)绝对能用
2016-01-11
硬盘安装win8、win7工具 nt6 hdd installer v3.1.2
硬盘安装win8、win7工具 nt6 hdd installer v3.1.2,特别好用,直接硬盘安装win8、win7,无需u盘或者光盘
2013-07-30
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