Calibration and registration for precise surface reconstruction with Time-Of-Flight cameras

Authors:
Stefan Fuchs;Stefan May
Affiliations:
DLR, Institute of Robotics and Mechatronics, Oberpfaffenhofen, 82234 Wessling, Germany.;Fraunhofer Institut, Intelligente Analyse- und Informationssysteme, Informationssysteme Schloss Birlinghoven 53754 Sankt Augustin, Germany
Venue:
International Journal of Intelligent Systems Technologies and Applications
Year:
2008

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Abstract

This paper presents a method for precise surface reconstructionwith Time-Of-Flight (TOF) cameras. A novel calibration approach,which simplifies the calibration task and doubles the camera'sprecision is developed and compared to current calibration methods.Remaining errors are tackled by applying filter and errordistributing methods. Thus, a reference object is circumferentiallyreconstructed with an overall mean precision of approximately 3 mmin translation and 3° in rotation. The presented way ofquantification for an achievable reconstruction precision with TOFcameras discloses the potential of localising and grasping objectswith robot manipulators. This is a major criteria for the potentialanalysis of this sensor technology in robotics, which is firstdemonstrated within this work.