Original scientific paper

https://doi.org/10.7305/automatika.2017.02.1758

Multiple Kinect V2 Calibration

Diana Margarita Córdova-Esparza ; Centro de Ingenieria y Desarrollo Industrial, Av. Playa Pie de la Cuesta 702, 76130, Querétaro, México
Juan R Terven ; CICATA, Cerro Blanco 141, 76090, Querétaro, México
Hugo Jiménez-Hernández orcid.org/0000-0003-0827-6645 ; Centro de Ingenieria y Desarrollo Industrial, Av. Playa Pie de la Cuesta 702, 76130, Querétaro, México
Alberto Vázquez-Cervantes orcid.org/0000-0002-9911-4328 ; Centro de Ingenieria y Desarrollo Industrial, Av. Playa Pie de la Cuesta 702, 76130, Querétaro, México
Ana Marcela Herrera-Navarro ; Facultad de Informática, Autonomous University of Querétaro, Av. de las Ciencias S/N, 75230, Querétaro, México
Alfonso Ramírez-Pedraza ; CICATA, Cerro Blanco 141, 76090, Querétaro, México

Abstract

In this paper, we propose a method to easily calibrate multiple Kinect V2 sensors. It requires the cameras to simultaneously observe a 1D object shown at different orientations (three at least) or a 2D object for at least one acquisition. This is possible due to the built-in coordinate mapping capabilities of the Kinect. Our method follows five steps: image acquisition, pre-calibration, point cloud matching, intrinsic parameters initialization, and final calibration. We modeled radial and distortion parameters of all the cameras, obtaining a root mean square re-projection error of 0.2 pixels on the depth cameras and 0.4 pixels on the color cameras. To validate the calibration results we performed point cloud fusion with color and 3D reconstruction using the depth and color information from four Kinect sensors.

Keywords

Camera calibration; Kinect V2; Multiple cameras

Hrčak ID:

180722

URI

https://hrcak.srce.hr/180722

Publication date:

23.3.2017.

Article data in other languages: croatian

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