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Simultaneous Calibration: A Joint Optimization Approach for Multiple Kinect and External Cameras

Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Ministry of Education, Wuhan 430081, China
Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
School of Computing, University of Portsmouth, Portsmouth PO1 3HE, UK
Author to whom correspondence should be addressed.
Sensors 2017, 17(7), 1491;
Received: 5 April 2017 / Revised: 27 May 2017 / Accepted: 20 June 2017 / Published: 24 June 2017
(This article belongs to the Special Issue Imaging Depth Sensors—Sensors, Algorithms and Applications)
PDF [4201 KB, uploaded 24 June 2017]


Camera calibration is a crucial problem in many applications, such as 3D reconstruction, structure from motion, object tracking and face alignment. Numerous methods have been proposed to solve the above problem with good performance in the last few decades. However, few methods are targeted at joint calibration of multi-sensors (more than four devices), which normally is a practical issue in the real-time systems. In this paper, we propose a novel method and a corresponding workflow framework to simultaneously calibrate relative poses of a Kinect and three external cameras. By optimizing the final cost function and adding corresponding weights to the external cameras in different locations, an effective joint calibration of multiple devices is constructed. Furthermore, the method is tested in a practical platform, and experiment results show that the proposed joint calibration method can achieve a satisfactory performance in a project real-time system and its accuracy is higher than the manufacturer’s calibration. View Full-Text
Keywords: joint calibration; Kinect; external camera; depth camera joint calibration; Kinect; external camera; depth camera

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Liao, Y.; Sun, Y.; Li, G.; Kong, J.; Jiang, G.; Jiang, D.; Cai, H.; Ju, Z.; Yu, H.; Liu, H. Simultaneous Calibration: A Joint Optimization Approach for Multiple Kinect and External Cameras. Sensors 2017, 17, 1491.

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