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Remote Sens. 2011, 3(5), 1014-1028; doi:10.3390/rs3051014

A Comparison of Three Geometric Self-Calibration Methods for Range Cameras

Department of Geomatics Engineering, The University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, Canada
School of Civil and Environmental Engineering, Yonsei University, 134 Shinchondong, Seodaemungu, Seoul 120-749, Korea
Author to whom correspondence should be addressed.
Received: 25 March 2011 / Revised: 4 May 2011 / Accepted: 10 May 2011 / Published: 20 May 2011
(This article belongs to the Special Issue Time-of-Flight Range-Imaging Cameras)
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Significant instrumental systematic errors are known to exist in data captured with range cameras using lock-in pixel technology. Because they are independent of the imaged object scene structure, these errors can be rigorously estimated in a self-calibrating bundle adjustment procedure. This paper presents a review and a quantitative comparison of three methods for range camera self-calibration in order to determine which, if any, is superior. Two different SwissRanger range cameras have been calibrated using each method. Though differences of up to 2 mm (in object space) in both the observation precision and accuracy measures exist between the methods, they are of little practical consequence when compared to the magnitude of these measures (12 mm to 18 mm). One of the methods was found to underestimate the principal distance but overestimate the rangefinder offset in comparison to the other two methods whose estimates agreed more closely. Strong correlations among the rangefinder offset, periodic error terms and the camera position co-ordinates are indentified and their cause explained in terms of network geometry and observation range.
Keywords: range camera; geometric self-calibration; error modeling; correlation range camera; geometric self-calibration; error modeling; correlation
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Lichti, D.D.; Kim, C. A Comparison of Three Geometric Self-Calibration Methods for Range Cameras. Remote Sens. 2011, 3, 1014-1028.

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