Photogrammetric calibration and colorization of the SwissRanger SR-3100 3-D range imaging sensor

Scott D. Robbins; Bryan Murawski; Brigit Schroeder

doi:10.1117/1.3122002

1 May 2009 Photogrammetric calibration and colorization of the SwissRanger SR-3100 3-D range imaging sensor

Scott D. Robbins, Bryan Murawski, Brigit Schroeder

Author Affiliations +

Optical Engineering, Vol. 48, Issue 5, 053603 (May 2009). https://doi.org/10.1117/1.3122002

Abstract

Many robotic and industrial systems require 3-D range-sensing capabilities for mapping, localization, navigation, and obstacle avoidance. Laser-scanning systems that mechanically trace a range-sensing beam over a raster or similar pattern can produce highly accurate models but tend to be bulky and slow when acquiring a significant field of view at useful resolutions. Stereo cameras can provide video-rate range images over significant fields of view but tend to have difficulty with scenes containing low or confusing textures. A new generation of active light, time-of-flight range sensors use a 2-D array of sensor elements to produce a 3-D range image at video rates. These sensors pose unique calibration challenges, requiring both the usual calibration of lens distortion (intrinsic calibration) and calibration of the time-of-flight range measurement (3-D calibration). We present our application of a photogrammetric calibration approach using inexpensive printed optical targets and off-the-shelf software to solve both intrinsic and range calibrations for the MESA Imaging SwissRanger SR-3100 range imaging sensor. Specific calibration issues stemming from this sensor's correlation of reflectivity with measured range are identified. We further present the integration of this otherwise grayscale 3-D sensor with an optical camera, providing a full-color, video-rate 3-D sensing solution.

©(2009) Society of Photo-Optical Instrumentation Engineers (SPIE)

Citation Download Citation

Scott D. Robbins, Bryan Murawski, and Brigit Schroeder "Photogrammetric calibration and colorization of the SwissRanger SR-3100 3-D range imaging sensor," Optical Engineering 48(5), 053603 (1 May 2009). https://doi.org/10.1117/1.3122002

Published: 1 May 2009

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available