In this paper, we propose a quick and easy approach to estimate the undistortion function of RGBD sensors. Our method does not rely on the knowledge of the sensor model, on the use of a specific calibration pattern or on external SLAM systems to track the device position.We compute a nonparametric approximation of the undistortion function by applying regression methods to calibration data that can be acquired wherever a sufficiently large planar surface is observed. The procedure is fast, easy, and be used on-line. Experimental results show a significant improvement when using undistorted images in applications like mapping.
CITATION STYLE
Di Cicco, M., Iocchi, L., & Grisetti, G. (2016). Nonparametric calibration for depth sensors. In Advances in Intelligent Systems and Computing (Vol. 302, pp. 923–935). Springer Verlag. https://doi.org/10.1007/978-3-319-08338-4_67
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