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Design and Comparison of Calibration Algorithms of a Heterogeneous 3D Acquisition System Composed by Time-of-Flight and Colour Cameras

A. El-Attar, H. Tairi, A. Tremeau, M. Karim


Despite the quality of the results obtained during the last two decades by different algorithms aiming to solve the problem of Structure From Motion-SFM, the use of color cameras all alone requires either an excessive number of devices (tens to several hundred), that cannot easily be available in practice, or may suffer from ambiguity in the 3D reconstruction of scenes. As an alternative, approaches based on multi-modal sensors, using different types of sensors, can provide compact system configurations requiring far fewer devices than mono-modal approaches, and without ambiguity in the 3D reconstruction. In this paper, we present a comprehensive study of a 3D acquisition system consisting of two pairs of Color and Time-of-Flight cameras. After briefly exploring the operating principles of Time-of-Flight cameras and the main practical problems of their implementations, we make a detailed study of different types of noise and errors in the measurements made by this type of cameras and correcting them when necessary. Subsequently, we make a comparison of different methods of calibrating color cameras that we apply to Time-of-Flight cameras and we end with the stereoscopic calibration of our entire acquisition system.


ToF cameras, noise reducing, errors modelling, camera calibration, stereoscopic calibration.

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