A Range-Independent Disparity-Based Calibration Model for Structured Light Pattern-Based RGBD Sensor
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Shenzhen Research Institute, The Hong Kong Polytechnic University, Shenzhen 518057, China
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Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong, China
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Geomatics Engineering Lab, Civil Engineering Department, Faculty of Engineering, Cairo University, Cairo 12613, Egypt
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Department of Electronic and Informatics, Faculty of Engineering, Vrije Universiteit Brussel, 1050 Brussels, Belgium
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Guangdong Key Laboratory of Urban Informatics & Shenzhen Key Laboratory of Spatial Smart Sensing and Services & Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ) & Research Institute for Smart Cities, School of Architecture and Urban Planning, Shenzhen University, Shenzhen 518050, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(3), 639; https://doi.org/10.3390/s20030639
Received: 2 December 2019
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Revised: 20 January 2020
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Accepted: 21 January 2020
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Published: 23 January 2020
(This article belongs to the Section Remote Sensors)
Consumer-grade RGBD sensors that provide both colour and depth information have many potential applications, such as robotics control, localization, and mapping, due to their low cost and simple operation. However, the depth measurement provided by consumer-grade RGBD sensors is still inadequate for many high-precision applications, such as rich 3D reconstruction, accurate object recognition and precise localization, due to the fact that the systematic errors of RGB sensors increase exponentially with the ranging distance. Most existing calibration models for depth measurement must be carried out with different distances. In this paper, we reveal the mechanism of how an infrared (IR) camera and IR projector contribute to the overall non-centrosymmetric distortion of a structured light pattern-based RGBD sensor. Then, a new two-step calibration method for RGBD sensors based on the disparity measurement is proposed, which is range-independent and has full frame coverage. Three independent calibration models are used for the calibration for the three main components of the RGBD sensor errors: the infrared camera distortion, the infrared projection distortion, and the infrared cone-caused bias. Experiments show the proposed calibration method can provide precise calibration results in full-range and full-frame coverage of depth measurement. The offset in the edge area of long-range depth (8 m) is reduced from 86 cm to 30 cm, and the relative error is reduced from 11% to 3% of the range distance. Overall, at far range the proposed calibration method can improve the depth accuracy by 70% in the central region of depth frame and 65% in the edge region.
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Keywords:
RGBD sensor; calibration model; disparity
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MDPI and ACS Style
Li, W.; Li, Y.; Darwish, W.; Tang, S.; Hu, Y.; Chen, W. A Range-Independent Disparity-Based Calibration Model for Structured Light Pattern-Based RGBD Sensor. Sensors 2020, 20, 639. https://doi.org/10.3390/s20030639
AMA Style
Li W, Li Y, Darwish W, Tang S, Hu Y, Chen W. A Range-Independent Disparity-Based Calibration Model for Structured Light Pattern-Based RGBD Sensor. Sensors. 2020; 20(3):639. https://doi.org/10.3390/s20030639
Chicago/Turabian StyleLi, Wenbin, Yaxin Li, Walid Darwish, Shengjun Tang, Yuling Hu, and Wu Chen. 2020. "A Range-Independent Disparity-Based Calibration Model for Structured Light Pattern-Based RGBD Sensor" Sensors 20, no. 3: 639. https://doi.org/10.3390/s20030639
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