Joint Depth and Color Camera Calibration with Distortion Correction

Herrera, Cardenal; Kannala, Juho; E, Janne Heikkil #x

doi:10.1109/tpami.2012.125

Cited by 399 publications

(358 citation statements)

References 12 publications

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“…Then it was moved to a sequence of positions between 0.6 m and 2.0 m from the sensor to provide a distance calibration 18 , 19 . The distance and X, Y calibration process was repeated regularly for each Kinect over a four‐month period.…”

Section: Methodsmentioning

confidence: 99%

The feasibility of using Microsoft Kinect v2 sensors during radiotherapy delivery

Edmunds

Bashforth

Tahavori

et al. 2016

J Applied Clin Med Phys

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Consumer‐grade distance sensors, such as the Microsoft Kinect devices (v1 and v2), have been investigated for use as marker‐free motion monitoring systems for radiotherapy. The radiotherapy delivery environment is challenging for such sensors because of the proximity to electromagnetic interference (EMI) from the pulse forming network which fires the magnetron and electron gun of a linear accelerator (linac) during radiation delivery, as well as the requirement to operate them from the control area. This work investigated whether using Kinect v2 sensors as motion monitors was feasible during radiation delivery. Three sensors were used each with a 12 m USB 3.0 active cable which replaced the supplied 3 m USB 3.0 cable. Distance output data from the Kinect v2 sensors was recorded under four conditions of linac operation: (i) powered up only, (ii) pulse forming network operating with no radiation, (iii) pulse repetition frequency varied between 6 Hz and 400 Hz, (iv) dose rate varied between 50 and 1450 monitor units (MU) per minute. A solid water block was used as an object and imaged when static, moved in a set of steps from 0.6 m to 2.0 m from the sensor and moving dynamically in two sinusoidal‐like trajectories. Few additional image artifacts were observed and there was no impact on the tracking of the motion patterns (root mean squared accuracy of 1.4 and 1.1 mm, respectively). The sensors’ distance accuracy varied by 2.0 to 3.8 mm (1.2 to 1.4 mm post distance calibration) across the range measured; the precision was 1 mm. There was minimal effect from the EMI on the distance calibration data: 0 mm or 1 mm reported distance change (2 mm maximum change at one position). Kinect v2 sensors operated with 12 m USB 3.0 active cables appear robust to the radiotherapy treatment environment.PACS number(s): 87.53 JW, 87.55 N‐, 87.63 L‐

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Section: Methodsmentioning

confidence: 99%

The feasibility of using Microsoft Kinect v2 sensors during radiotherapy delivery

Edmunds

Bashforth

Tahavori

et al. 2016

J Applied Clin Med Phys

View full text Add to dashboard Cite

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“…For both datasets, we compare our implementation with the state-of-the-art calibration algorithm [9] , and conclude that our method is nearly 50 times faster than it and offers the same quality.…”

Section: Camera;mentioning

confidence: 97%

“…Recent studies [8][9] estimated these parameters with an optimization approach. In [8][9], the non-linear terms were adopted in the optimization which explicitly estimated the values of the parameters. It was noted [10] that such non-linearity could lead to low efficiency and cause unwanted instability in the numerical processing.…”

Section: Camera;mentioning

confidence: 99%

“…Many recent studies [8][9][10][13][14][15][16][17][18][19] proposed a depth measuring model and the corresponding calibration algorithms. Most of them are capable of calibrating depth and colour cameras at the same time.…”

Section: Related Workmentioning

confidence: 99%

“…In contrast, it is possible to use only a single checkerboard to jointly calibrate colour and depth camera [8][9][10] . [8] considers point correspondences between colour and depth images to identify intrinsic parameters.…”

Section: Related Workmentioning

confidence: 99%

See 2 more Smart Citations

A Linear Approach for Depth and Colour Camera Calibration Using Hybrid Parameters

Cheng

Tong

et al. 2016

J. Comput. Sci. Technol.

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Many recent applications of computer graphics and human computer interaction have adopted both colour cameras and depth cameras as input devices. Therefore, an effective calibration of both types of hardware taking different colour and depth inputs is required. Our approach removes the numerical difficulties of using non-linear optimization in previous methods which explicitly resolve camera intrinsics as well as the transformation between depth and colour cameras. A matrix of hybrid parameters is introduced to linearize our optimization. The hybrid parameters offer a transformation from a depth parametric space (depth camera image) to a colour parametric space (colour camera image) by combining the intrinsic parameters of depth camera and a rotation transformation from depth camera to colour camera. Both the rotation transformation and intrinsic parameters can be explicitly calculated from our hybrid parameters with the help of a standard QR factorisation. We test our algorithm with both synthesized data and real-world data where ground-truth depth information is captured by Microsoft Kinect. The experiments show that our approach can provide comparable accuracy of calibration with the state-of-the-art algorithms while taking much less computation time (1/50 of Herrera's method and 1/10 of Raposo's method) due to the advantage of using hybrid parameters.

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A system for the real‐time tracking of operant behavior as an application of 3D camera

Kuroda

2018

J Exper Analysis Behavior

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The capacity of 3D cameras to measure many different aspects of behavior (e.g., velocity, pattern, and posture) could contribute to the understanding of behavior. The present article describes a system for the real-time tracking of operant behavior, which is applicable to other domains of behavioral science as well. Methods for real-time 3D tracking of animal behavior are described, along with sample C++ programs. A demonstration using one zebrafish as a subject indicated that the present system successfully tracked the 3D motion of the fish. Moreover, the acquisition of a target response (i.e., approach to a corner of the aquarium) was demonstrated with the arrangement of a reinforcement contingency at the corner in the absence of a traditional, salient operandum. The system offers the capacity to characterize more completely ongoing behavior in learning tasks across a range of species than simply performance of discrete operant responses. The system also is capable of tracking multiple individuals simultaneously so it is possible both to study social interactions and arrange contingencies for engaging in social behavior. Other possible applications of 3D cameras are discussed.

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Joint Depth and Color Camera Calibration with Distortion Correction

Cited by 399 publications

References 12 publications

The feasibility of using Microsoft Kinect v2 sensors during radiotherapy delivery

The feasibility of using Microsoft Kinect v2 sensors during radiotherapy delivery

A Linear Approach for Depth and Colour Camera Calibration Using Hybrid Parameters

A system for the real‐time tracking of operant behavior as an application of 3D camera

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