Calibration of Kinect-type RGB-D sensors for robotic applications

Branko Karan
2015 FME Transaction  
The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a twostep calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal
more » ... depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
doi:10.5937/fmet1501047k fatcat:spyscjqmjffblapdkj76njmjai