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

Calibration of an anamorphic laser-based 3D range sensor

Videometrics V, 1997

This paper describes the parameters and method used to calibrate an anamorphic lens specially designed for a 3-D triangulation based laser range sensor. It expands the more "conventional" spherical lens calibration technique that has been developed in photogrammetry to include the extra distortions introduced by the strong astigmatism and by the different optical principal planes of the lens of the anamorphic design. Experimental results using a prototype of the lens for the Biris range sensor are presented.

Characterization and Evaluation of Range Cameras

9th Conference on Optical 3-D Measurement Techniques, 2008

The performances of 2D digital imaging systems depend on several factors related with both optical and electronic processing. These concepts originated standards, conceived for photographic equipment and bi-dimensional scanning systems, for calculating different system parameters such as resolution, noise or dynamic range. On the other hand no standard test protocols currently exist for evaluating the performances of 3D imaging systems such as laser scanners or pattern projection range cameras. This paper is focused on investigating an experimental process that allows to evaluate some critical parameters of a 3D equipment, extending concepts defined by the ISO standards to the 3D domain. In particular it is focused on experimental estimation of resolution along the three axes, for seven different 3D range cameras, based on both laser scanning and pattern projection. The general aim of this contribution is to suggest an easy characterization process for generating a reliable comparison between 3D scanner performances.

Distance Error Estimation for Range Imaging Sensors

2010

The recent development of range imaging technology has enabled 3D data capture with a high resolution and the ability to measure the distance to the corresponding object point in each pixel. Besides some promising advantages, there are a number of drawbacks with the major being the distance measurement precision and accuracy which are still limited due to large systematic and random errors of the range imaging sensors. In order to reduce the effect of the systematic errors, a system calibration is essential which includes the calibration of the sensor as a camera device and the calibration of the range camera as a metric machine. This paper deals with the latter and aims to present a distance calibration approach. The methodology involves the capture of the calibration plane by the range camera and two video cameras. The calibration procedure is applied on the Swissrange SR-3000 sensor.

Acquisition of consistent range data using local calibration

1994

This paper addresses two aspects of triangulationbased range sensors using structured laser light: calibration and measurements consistency. We present a direct calibration technique which does not require modelling any speci c sensor component or phenomena, therefore is not limited in accuracy by the inability to model error sources. We also introduce some consistency tests based on two-camera geometry which make it possible to acquire satisfactory range images of highly re ective surfaces with holes. Experimental results indicating the validity of the methods are reported.

3D CAPTURING PERFORMANCES OF LOW-COST RANGE SENSORS FOR MASS-MARKET APPLICATIONS

Since the advent of the first Kinect as motion controller device for the Microsoft XBOX platform (November 2010), several similar active and low-cost range sensing devices have been introduced on the mass-market for several purposes, including gesture based interfaces, 3D multimedia interaction, robot navigation, finger tracking, 3D body scanning for garment design and proximity sensors for automotive. However, given their capability to generate a real time stream of range images, these has been used in some projects also as general purpose range devices, with performances that for some applications might be satisfying. This paper shows the working principle of the various devices, analyzing them in terms of systematic errors and random errors for exploring the applicability of them in standard 3D capturing problems. Five actual devices have been tested featuring three different technologies: i) Kinect V1 by Microsoft, Structure Sensor by Occipital, and Xtion PRO by ASUS, all based on different implementations of the PrimeSense sensor; ii) F200 by Intel/Creative, implementing the RealSense pattern projection technology; Kinect V2 by Microsoft, equipped with the Canesta TOF Camera. A critical analysis of the results tries first of all to compare them, and secondarily to focus the range of applications for which such devices could actually work as a viable solution.

Development and characterisation of an easily configurable range imaging system

2009

Range imaging is becoming a popular tool for many applications, with several commercial variants now available. These systems find numerous real world applications such as interactive gaming and the automotive industry. This paper describes the development of a range imaging system employing the PMD-19k sensor from PMD Technologies. One specific advantage of our system is that it is extremely customisable in terms of modulation patterns to act as a platform for further research into time-of-flight range imaging. Experimental results are presented giving an indication of the precision and accuracy of the system, and how modifying certain operating parameters can improve system performance.

A Low-Cost, Compact, Lightweight 3D Range Sensor

There are many applications that can benefit from the ability to acquire 3D data from en-vironmental surroundings. Examples include navigation, mapping, localisation and robot mobility. However, in the past, the technology for acquiring dense, wide ranging, accurate 3D data was too expensive, heavy and/or power hungry for many projects that could benefit from its use. In this paper, we describe a highly inte-grated 3D range scanner, based on a low-cost, lightweight Hokuyo 2D linescan LIDAR. This sensor is almost an order of magnitude cheaper than comparable solutions, yet produces accu-rate, dense 3D data in indoor environments. It is also small, light and power efficient enough to be mounted, complete with power supply, on toy-based robots. In addition, this sensor fea-tures variable and continuously-improving res-olution, foveated sensing in the middle of its field of view and the ability to lock into specific angles when in 2D scanning mode to facilitate leveling on uneven terrai...

3D Reconstruction of Real World Scenes Using a Low-Cost 3D Range Scanner

Computer-Aided Civil and Infrastructure Engineering, 2006

This paper presents a 3D reconstruction technique for real world environments based on a traditional 2D laser range finder modified to implement a 3D laser scanner. The paper describes the mechanical and control issues addressed to achieve physically the 3D sensor as well as the adaptation of some previously developed techniques used to merge range and intensity data and illustrates the potential of such a unit. The result is a promising system for 3D modelling of real world scenes at a commercial price 10 or 20 times lower than current commercial 3D laser scanners.

Calibration of an anamorphic laser-based 3D range sensor

Storage and Retrieval for Image and Video Databases, 1997

This paper describes the parameters and method used to calibrate an anamorphic lens specially designed for a 3D triangulation based laser range sensor. It expands the more `conventional' spherical lens calibration technique that has been developed in photogrammetry to include the extra distortions introduced by the strong astigmatism and by the different optical principal planes of the lens of the

Digital camera and 3D laser range finder system calibration for robot navigation

2012

Lipnitskiy A., Rimkus K., Кабыш А. Калибровка цифровой камеры и 3D лазерного дальномера для навигации роботаNavigation of autonomous mobile robots in 3D needs information about environment their are operating. One of the ways to get that information is by the use of various 3D range finders. Currently, modern 3D laser scanners are very expensive, therefore in the paper we propose the new 3D range scanner composed of the 2D laser scanner with an extra gear supplying the third degree of freedom. Such combination allowed building a non-expensive 3D range scanner, suitable for mobile robots navigation in 3D. Scanning system effectiveness was evaluated between the known and measured object dimensions. This paper describes the calibration of digital camera with 3D laser range finder system. Then the 2D image matrix elements can be attributed to the depth of the 3D laser scanner data. Such mapping might be also available in the reverse option to 3D laser scanned points assign the real colo...