Stereo Calibration of Depth Sensors with 3D Correspondences and Smooth Interpolants

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dc.contributor.advisorDeng, Zhigang
dc.contributor.committeeMemberChen, Guoning
dc.contributor.committeeMemberDawood, Mina
dc.creatorChaleva Ntina, Chrysanthi 1985-
dc.date.accessioned2015-08-17T03:30:14Z
dc.date.available2015-08-17T03:30:14Z
dc.date.createdMay 2013
dc.date.issued2013-05
dc.date.updated2015-08-17T03:30:14Z
dc.description.abstractThe Microsoft Kinect is a novel sensor that besides color images, also returns the actual distance of a captured scene from the camera. Its depth sensing capabilities, along with its affordable, commercial-type availability led to its quick adaptation for research and applications in Computer Vision and Graphics. Recently, multi-Kinect systems are being introduced in order to tackle problems like body scanning, scene reconstruction, and object detection. Multiple-cameras configurations however, must first be calibrated on a common coordinate system, i.e. the relative position of each camera needs to be estimated with respect to a global origin. Up to now, this has been addressed by applying well-established calibration methods, developed for conventional cameras. Such approaches do not take advantage of the additional depth information, and disregard the quantization error model introduced by the depth resolution specifications of the sensor. We propose a novel algorithm for calibrating a pair of depth sensors, based on a recovered affine transformation from very few 3D point correspondences, refined under a non-rigid registration, that accounts for the non-linear sensor acquisition error. The result is a closed form mapping, of the smooth warping type, that compensates for pairwise calibration point differences. The formulation is further complemented by proposing two different ways of efficiently capturing candidate calibration points. Qualitative 3D registration results show significant improvement over the conventional rigid calibration method, and highlight the potential for advanced and more accurate multi-sensor configurations.
dc.description.departmentComputer Science, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/10657/976
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectComputer graphics
dc.subjectComputer vision
dc.subjectMicrosoft kinect
dc.subjectStereo calibration
dc.subjectThin plate splines
dc.subjectPoint cloud
dc.subjectDepth sensor calibration
dc.subjectNon-rigid registration
dc.subject.lcshComputer science
dc.titleStereo Calibration of Depth Sensors with 3D Correspondences and Smooth Interpolants
dc.type.dcmiText
dc.type.genreThesis
thesis.degree.collegeCollege of Natural Sciences and Mathematics
thesis.degree.departmentComputer Science, Department of
thesis.degree.disciplineComputer Science
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science

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