Pan Ou, Kai Zhou, Shuai Wu. Dual-Kinect Spatial Position Calibration Method Based on Sphere and Plane Model[J]. Laser & Optoelectronics Progress, 2018, 55(4): 042802
- Laser & Optoelectronics Progress
- Vol. 55, Issue 4, 042802 (2018)
Fig. 1. Diagrams of two-view calibration model and parameters. (a) View 1; (b) view 2
Fig. 2. Point cloud calibration models with different Kinect's views. (a) Point cloud 1; (b) point cloud 2
Fig. 3. Plane segmentation and normal vector extraction results of point cloud
Fig. 4. Extraction results of point cloud normal vector. (a) RANSAC algorithm; (b) improved RANSAC algorithm
Fig. 5. (a) Sphere extraction and (b) sphere fitting result of point cloud
Fig. 6. Registration results of classic ICP algorithm. (a) Un-registrated point cloud; (b) registrated point cloud
Fig. 7. (a) Registration result of adaptive threshold ICP; (b) registration result of proposed method in the paper
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Table 1. Extraction algorithm of normal vector
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Table 2. Error between fixed points obtained by plane intersection and sphere center
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Table 3. Calibration accuracy of different algorithms
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Table 4. Time consuming of different algorithms
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