Paper Info
Title
Photogrammetric Bundle Adjustment With Self-Calibration of the PrimeSense 3D Camera Technology: Microsoft Kinect
Abstract
The Kinect system is arguably the most popular 3-D camera technology currently on the market. Its application domain is vast and has been deployed in scenarios where accurate geometric measurements are needed. Regarding the PrimeSense technology, a limited amount of work has been devoted to calibrating the Kinect, especially the depth data. The Kinect is, however, inevitably prone to distortions, as independently confirmed by numerous users. An effective method for improving the quality of the Kinect system is by modeling the sensor's systematic errors using bundle adjustment. In this paper, a method for modeling the intrinsic and extrinsic parameters of the infrared and colour cameras, and more importantly the distortions in the depth image, is presented. Through an integrated marker-and feature-based self-calibration, two Kinects were calibrated. A novel approach for modeling the depth systematic errors as a function of lens distortion and relative orientation parameters is shown to be effective. The results show improvements in geometric accuracy up to 53% compared with uncalibrated point clouds captured using the popular software RGBDemo. Systematic depth discontinuities were also reduced and in the check-plane analysis the noise of the Kinect point cloud was reduced by 17%.
Year
DOI
Venue
2013
10.1109/ACCESS.2013.2271860
Access, IEEE
Keywords
Field
DocType
cameras,lenses,optical distortion,spatial variables measurement,Kinect system,RGBDemo,check-plane analysis,depth image,geometric measurements,lens distortion,photogrammetric bundle adjustment,primesense 3D camera technology,self-calibration,systematic depth discontinuities,3D/stereo scene analysis,Kinect,camera calibration,quality assurance,quantization
Distortion (optics),Photogrammetry,Computer vision,Computer graphics (images),Bundle adjustment,Computer science,Software,Lens (optics),Artificial intelligence,Application domain,Point cloud,Calibration
Journal
Volume
ISSN
Citations 
1
2169-3536
15
PageRank 
References 
Authors
0.91
10
2
Name
Order
Citations
PageRank
Jacky C. K. Chow1293.83
Derek D. Lichti210215.00