US 7,321,838 B2 | ||
Relative range camera calibration | ||
John C. Krumm, Redmond, Wash. (US) | ||
Assigned to Microsoft Corporation, Redmond, Wash. (US) | ||
Filed on May 06, 2006, as Appl. No. 11/382,022. | ||
Application 11/237405 is a division of application No. 10/927373, filed on Aug. 25, 2004, granted, now 7,003,427, filed on Feb. 26, 2006. | ||
Application 11/382022 is a continuation of application No. 11/237405, filed on Sep. 27, 2005, granted, now 7,113,885. | ||
Application 10/927373 is a continuation of application No. 09/543235, filed on Apr. 05, 2000, granted, now 6,789,039, filed on Sep. 07, 2004. | ||
Prior Publication US 2006/0195292 A1, Aug. 31, 2006 | ||
Int. Cl. G01C 17/00 (2006.01) |
U.S. Cl. 702—94 | 18 Claims |
1. A calibration system for calibrating a first range camera and a second range camera, comprising:
a first data point sampled before a time t using the first range camera;
a second data point sampled after time t using the first range camera;
an interpolation module that interpolates a data point at time t using the first data point and the second data point such
that the interpolated data point approximates where a data point would have been seen at time t;
a data matching processor that matches the interpolated data point with data sampled from the second range camera to calibrate
the first and the second range cameras;
an error minimization processor that uses synchronized data to compute transformation parameters having a minimum error; and
an output module that expresses data captured by the first range camera and the second range camera in a base coordinate frame
using the transformation parameters and without the use of calibration targets or charts.
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