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19 January 2009 Surface-dependent 3D range camera self-calibration
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Proceedings Volume 7239, Three-Dimensional Imaging Metrology; 72390A (2009)
Event: IS&T/SPIE Electronic Imaging, 2009, San Jose, California, United States
This paper reports on an investigation designed to quantify the systematic and random error properties of range measurements from the SwissRanger SR-3000 range camera as a function of reflecting-surface color. This is achieved with an integrated self-calibrating bundle adjustment of image co-ordinate and range observations of a network of targets having three different colors (black, mid-level grey and white). Four different self-calibration adjustments are performed: one per target color and a combined one comprising all targets. The systematic effects of the different target colors are modeled with one rangefinder offset parameter per color. Results show considerable differences (up to 75 mm) between the different rangefinder offset parameters. The stochastic properties of the range observations, measured in terms of the residual root mean square error, also differed considerably among the adjustment cases. Range observations to black targets were found to be much noisier than those of the other targets, with white being the least noisy. High correlations (up to 0.96) between the rangefinder offset and perspective center co-ordinates were found in all adjustments.
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Derek D. Lichti and Denis Rouzaud "Surface-dependent 3D range camera self-calibration", Proc. SPIE 7239, Three-Dimensional Imaging Metrology, 72390A (19 January 2009);

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