Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Depth Calibration for KinectTM Sensors via an Experimental Design Method

실험 계획법에 기반한 키넥트 센서의 최적 깊이 캘리브레이션 방법

  • Park, Jae-Han (Robotics R&D Group, Korea Institute of Industrial Technology) ;
  • Bae, Ji-Hum (Robotics R&D Group, Korea Institute of Industrial Technology) ;
  • Baeg, Moon-Hong (Robotics R&D Group, Korea Institute of Industrial Technology)
  • Received : 2015.08.11
  • Accepted : 2015.10.23
  • Published : 2015.11.01
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Abstract

Depth calibration is a procedure for finding the conversion function that maps disparity data from a depth-sensing camera to actual distance information. In this paper, we present an optimal depth calibration method for Kinect$^{TM}$ sensors based on an experimental design and convex optimization. The proposed method, which utilizes multiple measurements from only two points, suggests a simplified calibration procedure. The confidence ellipsoids obtained from a series of simulations confirm that a simpler procedure produces a more reliable calibration function.

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References

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