[ros-users] Kinect RGB-D Calibration

Radu Bogdan Rusu rusu at willowgarage.com
Wed Nov 17 02:35:39 UTC 2010

Hi Bill,

Great work! A few suggestions:

  * use a larger calibration pattern that covers more of the image

  * use a calibration pattern with more squares

  * if the estimates of the corners (after subpixel refinement) are still bad, an iterative fitting process (or LMedS or 
RANSAC) could help

Alternatively, a calibration plate with circles would be better. We already have code ready that we need to commit for 
finding out centers of circles/ellipses and using those for calibration plates a la 
http://www.mvtec.com/halcon/applications/imgs/3d-vision-example-3d-calibration01.png, so this might improve things.


On 11/16/2010 05:44 PM, Bill Morris wrote:
> Ivan had a great idea for using stereo calibration to calibrate between
> the depth image and the RGB by taking advantage of the optical
> properties of glass.
> So after a busy day of arts and crafts we would like to present the
> attached image of black squares rubber cemented to a sheet of glass.
> We should have more detailed results tomorrow.
> William Morris
> Ivan Dryanovski
> CCNY Robotics Lab
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