An integrated bundle adjustment approach to range camera geometric self-calibration |
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| Authors: | Derek D Lichti Changjae Kim Sonam Jamtsho |
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| Institution: | 1. Department of Geomatics Engineering, The University of Calgary, 2500 University Dr NW, Calgary AB T2N 1N4, Canada;2. Centre for Bioengineering Research and Education, The University of Calgary, 2500 University Dr NW, Calgary AB T2N 1N4, Canada;3. School of Civil and Environmental Engineering, Yonsei University, 134 Shinchondong, Seodaemungu, Seoul 120-749, South Korea;1. Department of Surveying Sciences and Geomatics, Universiti Teknologi MARA, Malaysia;2. Department of Geomatic Engineering, University of Calgary, Canada;3. Department of Geomatic Engineering, University of Southern Queensland, Australia;4. Department of Geomatic Engineering, Universiti Teknologi Malaysia, Malaysia;1. School of Civil Engineering, School of Geosciences and Info-Physics, Central South University, 22 Shaoshan South Road, Changsha 410004, PR China;2. Department of Land Surveying & Geo-Informatics, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong;1. Department of Telecommunications and Information Processing (UGent-TELIN-IPI-IBBT), Ghent University, St-Pietersnieuwstraat 41, B-9000 Ghent, Belgium;2. Grontmij Belgium NV, Meersstraat 138A, B-9000 Ghent, Belgium;1. Centro Universitario de Ciencias Exactas e Ingenierias, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico;2. Facultad de Ciencias Fisico-Matematicas, Universidad Autonoma de Nuevo Leon, San Nicolas de los Garza, Nuevo Leon, Mexico;3. Department of Systems Immunology, Helmholtz Centre for Infection Research, Inhoffenstraße 7, D-38124 Braunschweig, Germany;1. University of Helsinki, Department of Forest Sciences, Finland;2. Finnish Geodetic Institute, Department of Remote Sensing and Photogrammetry, Finland;3. Aalto University, Research Institute of Measuring and Modelling for the Built Environment, Finland;4. Helsinki Metropolia, University of Applied Sciences, Civil Engineering and Building Services, Finland;5. University of Turku, Department of Geography and Geology, Finland;6. HAMK, University of Applied Sciences, Finland |
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| Abstract: | This paper describes a new method for integrated range camera system self-calibration in which both traditional camera calibration parameters and rangefinder systematic error parameters are estimated simultaneously in a free-network bundle adjustment of observations to signalised targets. Its mathematical basis is collinearity and range observation equations augmented with correction models for systematic error sources identified in the data. The self-calibration results from datasets captured with two different range cameras, a SwissRanger SR3000 and a SwissRanger SR4000, are presented and analysed in detail. The method’s effectiveness is demonstrated in terms of systematic error removal and independent accuracy assessment. Up to a 54% reduction in the residual RMS was achieved by inclusion of the proposed error models in the self-calibration adjustment. An improvement of at least 74% in the RMS of object point co-ordinate differences, over that achieved without calibration or provided by the manufacturer’s software (in the case of the SR3000), was realised in an independent accuracy assessment. In addition, the effects of several influencing variables, including the range stochastic error model, the network geometry and the range measurements themselves, on key correlation mechanisms are analysed in detail. |
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