Simultaneous localization and calibration: Self-calibration of consumer depth cameras

We describe an approach for simultaneous localization and calibration of a stream of range images. Our approach jointly optimizes the camera trajectory and a calibration function that corrects the camera’s unknown nonlinear dis-tortion. Experiments with real-world benchmark data and synthetic data show that our approach increases the accu-racy of camera trajectories and geometric models estimated from range video produced by consumer-grade cameras. 1