Photogrammetric calibration of the SwissRanger 3D range imaging sensor (original) (raw)

Many robotic and industrial systems require 3D range-sensing capabilities for mapping, localization, navigation, and obstacle avoidance. Laser-scanning systems that mechanically trace a range-sensing beam over a raster or similar pattern can produce highly accurate models but tend to be bulky and slow when acquiring a significant field of view at useful resolutions. Stereo cameras can provide video-rate range images over significant fields of view but tend to have difficulty with scenes containing low or confusing textures. A new generation of active light, time-of-flight range sensors use a 2D array of sensor elements to produce a 3D range image at video rates. These sensors pose unique calibration challenges, requiring both the usual calibration of lens distortion (intrinsic calibration) and calibration of the time-of-flight range measurement (3D calibration). This paper presents our application of a photogrammetric calibration approach using inexpensive printed optical targets and off-the-shelf software to solve both intrinsic and range calibrations for the MESA Imaging SwissRanger™ 3100 range imaging sensor. We further identify specific calibration issues stemming from this sensor's correlation of reflectivity with measured range.