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Title
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New error measures for evaluating algorithms that estimate the motion of a range camera
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Author
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Abstract
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| We compare the classical point-based algorithms for the extrinsic calibration of a range camera to the recent plane-based method. This method does not require any feature detection, and appears to perform well using a small number of planes (minimally 3). In order to evaluate the accuracy of the computed rigid motion we propose two new error metrics that get direct access to the ground truth provided by a mechanism with reliable motion control. Furthermore, these error metrics do not depend on an additional hand-eye calibration between the mechanism and the sensor. By means of our objective measures, we demonstrate that the planebased method outperforms the point-based methods that operate on 3-D or 2-D point correspondences. In our experiments we used two types of TOF cameras attached to a robot arm, but our evaluation tool applies to other sensors and moving systems. |
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Language
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English
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Source (book)
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VISIGRAPP 2018 : proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications : January 27-29, 2018, Funchal, Portugal / Imai, Francisco [edit.]
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Publication
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Setúbal
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Science and Technology Publications
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2018
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ISBN
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978-989-758-290-5
978-989-758-306-3
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Volume/pages
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5
, p. 508-515
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ISI
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000576679800057
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Full text (Publisher's DOI)
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Full text (open access)
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Full text (publisher's version - intranet only)
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