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Conference Paper
Accurate Fusing Multiple RGBD Sensors Using Geometry
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- Authors
- Seohyun Jeon, Myung-Chan Roh, Joo-Haeng Lee, Jaeyeon Lee
- Issue Date
- 2015-10
- Citation
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015, pp.18-21
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes an approach for fusing multiple RGBD sensors using geometry obtained from the captured image. We used Xtion Pro Live as the RGBD sensor. With the coupled line camera (CLC) method, the position of the camera is geometrically reconstructed when the size of a quadrilateral in the captured image is known. After roughly setting the hardware of multiple sensors on the frame, accurate calibration is proceeded by software using CLC. When positions of sensors are decided, the center of sensors can be derived. Input data of each sensors are reconstructed with this center point afterwards. Prior to the calibration, the method for connecting multiple sensors on a laptop is described and different square patterns used for calibration is discussed.
- KSP Keywords
- Center point, Coupled line, RGB-D sensor, input data, multiple sensors, square pattern, xtion pro