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    Automatic detection of calibration grids in time-of-flight images 
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    Automatic detection of calibration grids in time-of-flight images

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    Accepted version (444.8Kb)
    Volume
    121
    Pagination
    108 - 118
    DOI
    10.1016/j.cviu.2014.01.007
    Journal
    Computer Vision and Image Understanding
    Metadata
    Show full item record
    Abstract
    It is convenient to calibrate time-of-flight cameras by established methods, using images of a chequerboard pattern. The low resolution of the amplitude image, however, makes it difficult to detect the board reliably. Heuristic detection methods, based on connected image-components, perform very poorly on this data. An alternative, geometrically-principled method is introduced here, based on the Hough transform. The projection of a chequerboard is represented by two pencils of lines, which are identified as oriented clusters in the gradient-data of the image. A projective Hough transform is applied to each of the two clusters, in axis-aligned coordinates. The range of each transform is properly bounded, because the corresponding gradient vectors are approximately parallel. Each of the two transforms contains a series of collinear peaks; one for every line in the given pencil. This pattern is easily detected, by sweeping a dual line through the transform. The proposed Hough-based method is compared to the standard OpenCV detection routine, by application to several hundred time-of-flight images. It is shown that the new method detects significantly more calibration boards, over a greater variety of poses, without any overall loss of accuracy. This conclusion is based on an analysis of both geometric and photometric error.
    Authors
    HANSARD, M; Horaud, R; Amat, M; Evangelidis, G
    URI
    http://qmro.qmul.ac.uk/xmlui/handle/123456789/8087
    Collections
    • Electronic Engineering and Computer Science [2680]
    Licence information
    © 2014 Elsevier Inc. All rights reserved.
    Copyright statements
    https://doi.org/10.1016/j.cviu.2014.01.007
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