Calibrating a depth camera but ignoring it for SLAM

講演者所属: Computer Science and Engineering, University of Oulu講演日: 平成26年12月15日講演場所: 情報科学研究科大講義室（L1）Recent improvements in resolution, accuracy, and cost have made depth cameras a very popular alternative for 3D reconstruction and navigation. Thus, accurate depth camera calibration a very relevant aspect of many 3D pipelines. We explore what are the limits of a practical depth camera calibration algorithm: how to accurately calibrate a noisy depth camera without a precise calibration object and without using brightness or depth discontinuities. We present an algorithm that uses an external color camera to overcome the difficulties presented by a depth camera and show that a joint calibration obtains the best results. We apply this algorithm to calibrating the Kinect