一种自动、快速的Kinect标定方法

针对目前Kinect传感器人工标定方法误差大、速度慢等问题,提出一种自动、快速的Kinect传感器外参标定方法。首先,根据彩色图像提取的角点,生成彩色图像的角点集合;其次,为了实现角点点云的自动提取,对点云图像进行深度分割,提取棋盘格点云,采用三维哈夫(Hough)变换检测方法将棋盘格点云投影到深度图像的模板平面上,在深度图像模板中提取深度图像中的角点;然后,将深度图像中的角点映射到棋盘格点云中,形成角点点云;最后,将角点点云与彩色图像的角点集合进行配准,得到角点的3D空间坐标,进而计算出深度相机到彩色相机的姿态变换矩阵。实验结果表明,本文提出的算法在保证相机标定精度的前提下,将相机参数的计算时间从平均218ms降低到166ms,实现了自动、快速的Kinect相机标定。

A quick auto calibration method of Kinect

We propose a quick auto calibration method towards Kinect sensors to solve the problems such as large error and slow computation speed. Firstly, the corner points of the RGB image are extracted to form the corner point set. Then the point cloud of checkboard making from the RGB image is projected using the 3D Hough transform detection method to the depth image in order to auto extract the point cloud corners. Then the point corners in the depth image are extracted. Thirdly, the point cloud corners are projected to the depth image using the least squaring plane fitting algorithm. Then the point cloud corners of the depth images are registered to the corner points of the RGB image. Finally, the 3D coordinates of these corner points are made and the pose transform matrix can be calculated. Experimental results show that the proposed algorithm can extract corner points automatically and decrease the average calibration time from 218 ms to 166ms, thus realizing a quick auto calibration of Kinect sensors.