title: A Quantitative Comparison of Calibration Methods for RGB-D Sensors Using Different Technologies.
abstract: RGB-D (Red Green Blue and Depth) sensors are devices that can provide color and depth information from a scene at the same time. Recently, they have been widely used in many solutions due to their commercial growth from the entertainment market to many diverse areas (e.g., robotics, CAD, etc.). In the research community, these devices have had good uptake due to their acceptable levelofaccuracyformanyapplicationsandtheirlowcost,butinsomecases,theyworkatthelimitof their sensitivity, near to the minimum feature size that can be perceived. For this reason, calibration processes are critical in order to increase their accuracy and enable them to meet the requirements of such kinds of applications. To the best of our knowledge, there is not a comparative study of calibration algorithms evaluating its results in multiple RGB-D sensors. Speciﬁcally, in this paper, a comparison of the three most used calibration methods have been applied to three different RGB-D sensors based on structured light and time-of-ﬂight. The comparison of methods has been carried out by a set of experiments to evaluate the accuracy of depth measurements. Additionally, an object reconstruction application has been used as example of an application for which the sensor works at the limit of its sensitivity. The obtained results of reconstruction have been evaluated through visual inspection and quantitative measurements.
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain. vvillena@dtic.ua.es.
authors.forename: Víctor
authors.initials: V
authors.lastname: Villena-Martínez
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain.
authors.forename: Andrés
authors.initials: A
authors.lastname: Fuster-Guilló
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain.
authors.forename: Jorge
authors.initials: J
authors.lastname: Azorín-López
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain.
authors.forename: Marcelo
authors.initials: M
authors.lastname: Saval-Calvo
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain.
authors.forename: Jeronimo
authors.initials: J
authors.lastname: Mora-Pascual
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain.
authors.forename: Jose
authors.initials: J
authors.lastname: Garcia-Rodriguez
authors.affiliation: Department of Computer Technology, University of Alicante, Carretera San Vicente s/n, San Vicente del Raspeig 03690, Alicante, Spain. agarcia@dtic.ua.es.
authors.forename: Alberto
authors.initials: A
authors.lastname: Garcia-Garcia
keywords: Kinect; RGB-D; accuracy; camera calibration; depth sensor