Publication
Title
New error measures for evaluating algorithms that estimate the motion of a range camera
Author
Abstract
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.
Language
English
Source (book)
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.]
Publication
Setúbal : Science and Technology Publications , 2018
ISBN
978-989-758-290-5
978-989-758-306-3
Volume/pages
5 , p. 508-515
ISI
000576679800057
Full text (Publisher's DOI)
Full text (open access)
Full text (publisher's version - intranet only)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identifier
Creation 05.10.2018
Last edited 20.01.2022
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