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Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras

2019-12-12 | |  99 |   44 |   0

Abstract

We describe an approach for simultaneous localization and calibration of a stream of range images. Our approach jointly optimizes the camera trajectory and a calibration function that corrects the camera’s unknown nonlinear distortion. Experiments with real-world benchmark data and synthetic data show that our approach increases the accuracy of camera trajectories and geometric models estimated from range video produced by consumer-grade cameras.

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