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dc.contributor.authorZúñiga-Noël, David
dc.contributor.authorRuiz-Sarmiento, Jose-Raul
dc.contributor.authorGonzalez-Jimenez, Antonio Javier 
dc.date.accessioned2019-10-23T07:32:44Z
dc.date.available2019-10-23T07:32:44Z
dc.date.created2019
dc.date.issued2019-10-23
dc.identifier.urihttps://hdl.handle.net/10630/18629
dc.description.abstractDepth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with significant, non-linear errors in the depth measurements that jeopardize robot tasks, like free-space detection, environment reconstruction or visual robot-human interaction. This paper presents a method to calibrate such systematic errors with the help of a second, more precise range sensor, in our case a radial laser scanner. In contrast to what it may seem at first, this does not mean a serious limitation in practice since these two sensors are often mounted jointly in many mobile robotic platforms, as they complement well each other. Moreover, the laser scanner can be used just for the calibration process and get rid of it after that. The main contributions of the paper are: i) the calibration is formulated from a probabilistic perspective through a Maximum Likelihood Estimation problem, and ii) the proposed method can be easily executed automatically by mobile robotic platforms. To validate the proposed approach we evaluated for both, local distortion of 3D planar reconstructions and global shifts in the measurements, obtaining considerably more accurate results. A C++ open-source implementation of the presented method has been released for the benefit of the community.en_US
dc.description.sponsorshipResearch projects WISER (DPI2017-84827-R), funded by the Spanish Government and the European Regional Development’s Funds (FEDER), MoveCare (ICT-26-2016b-GA-732158), funded by the European H2020 program, the European Social Found through the Youth Employment Initiative for the promotion of young researchers, and a postdoc contract from the IPPIT program of the University of Malaga. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.en_US
dc.language.isoengen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobots autónomosen_US
dc.subjectCámaras fotográficas digitalesen_US
dc.subject.otherSensor Calibrationen_US
dc.subject.otherDepth Camerasen_US
dc.subject.otherMobile roboticsen_US
dc.titleIntrinsic calibration of depth cameras for mobile robots using a radial laser scanneren_US
dc.typeinfo:eu-repo/semantics/conferenceObjecten_US
dc.centroE.T.S.I. Informáticaen_US
dc.relation.eventtitle18th International Conference on Computer Analysis of Images and Patternsen_US
dc.relation.eventplaceSalerno, Italyen_US
dc.relation.eventdate2-6 September, 2019.en_US
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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