An integrated procedure for calibrating and distortion correction of the structure sensor and stereo-vision depth sensors

Abstract

The paper presents a calibration procedure of a 3D scene reconstruction system consisting of an active depth sensor (Structure Sensor) and a stereo camera with a wide view angle lenses. The wide angle lenses with large radial distortions used in the stereoscopic part of the system require application of a fish-eye model for correcting geometric distortions while for the infrared camera of the Structure Sensor a traditional pinhole model is sufficient. Calibration of the system comprises also a procedure for correcting depth distortions introduced by the Structure Sensor device. A simple yet efficient method for calibrating the cameras using functions provided by OpenCV library is proposed. The system is a part of a device helping visually impaired people to navigate in the environment.