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Photogrammetric Bundle Adjustment With Self-Calibration of the PrimeSense 3D Camera Technology: Microsoft Kinect

Figure 1

Figure 1
Definition of the coordinate systems for the calibration.

Figure 2

Figure 2
Effect of the stochastic model on the accuracy of depth reconstruction. The dashed line (magenta) shows the uncertainty of the reconstructed depth if the disparity measures are continuous. The dotted line (blue) is the effect of quantization. The solid line (green) shows the result of quantized disparity values.

Figure 3

Figure 3
(Left) RGB image of the calibration field used for calibrating Kinect1. (Right) IR image of the calibration field used for calibrating Kinect2.

Figure 4

Figure 4
Residuals of the depth map as a function of the radial distance from the principal point before and after systematic error modelling.

Figure 5

Figure 5
(Top) Roughness of point cloud before calibration. (Bottom) Roughness of point cloud after calibration. The colours indicate the roughness as measured by the normalized smallest eigenvalue.

Figure 6

Figure 6
Residuals of the plane-fitting before and after calibration.

Figure 7

Figure 7
RMSE of check planes before and after applying the calibration parameters.

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