Depth sensing devices have created various new applications in scientific andcommercial research with the advent of Microsoft Kinect and PMD (Photon MixingDevice) cameras. Most of these applications require the depth cameras to bepre-calibrated. However, traditional calibration methods using a checkerboarddo not work very well for depth cameras due to the low image resolution. Inthis paper, we propose a depth calibration scheme which excels in estimatingcamera calibration parameters when only a handful of corners and calibrationimages are available. We exploit the noise properties of PMD devices to denoisedepth measurements and perform camera calibration using the denoised depth asan additional set of measurements. Our synthetic and real experiments show thatour depth denoising and depth based calibration scheme provides significantlybetter results than traditional calibration methods.
展开▼
