Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras

20 Jan 2017Filippo BassoEmanuele MenegattiAlberto Pretto

Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic calibration that generally does not meet the accuracy requirements needed by many robotics applications (e.g., highly accurate 3D environment reconstruction and mapping, high precision object recognition and localization, ...)... (read more)

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