Dual-Kinect Spatial Position Calibration Method Based on Sphere and Plane Model

Pan Ou; Kai Zhou; Shuai Wu

doi:10.3788/LOP55.042802

Laser & Optoelectronics Progress, Volume. 55, Issue 4, 042802(2018)

Dual-Kinect Spatial Position Calibration Method Based on Sphere and Plane Model

Pan Ou^*, Kai Zhou, and Shuai Wu

Author Affiliations

School of Instrumentation Science and Opto-Electronic Engineering, Beihang University, Beijing 100191, China

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Figures & Tables(11)

Fig. 1. Diagrams of two-view calibration model and parameters. (a) View 1; (b) view 2

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Fig. 2. Point cloud calibration models with different Kinect's views. (a) Point cloud 1; (b) point cloud 2

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Fig. 3. Plane segmentation and normal vector extraction results of point cloud

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Fig. 4. Extraction results of point cloud normal vector. (a) RANSAC algorithm; (b) improved RANSAC algorithm

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Fig. 5. (a) Sphere extraction and (b) sphere fitting result of point cloud

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Fig. 6. Registration results of classic ICP algorithm. (a) Un-registrated point cloud; (b) registrated point cloud

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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 1. Extraction algorithm of normal vector

Normal vector extraction algorithm (P, T, E_T, NR, Nums)1: for all p_i in P2: n_i←Compute Normals (p_i, NR)3: end for4: while e_t>E_T5: Temp Plane←Random Extract Points (P, Nums)6: N_TempPlane←Get Normals Average (TempPlane)7: for all p_i in P8: e_i←abs(N_TempPlane-n_i)9: add e_i to E_j10: if e_i<T, then11: add p_i to Model_j12: end if13: end for14: R_E, IPN_j, TPN_j, N_j←Get Params From (Model_j)15: e_t←Calculate Termination Condition (IT, R_E, IPN_j, TPN_j)16: end while17: return N_j

Table 2. Error between fixed points obtained by plane intersection and sphere center
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Table 2. Error between fixed points obtained by plane intersection and sphere center
P_std /mm S_std /mm (P_std-S_std) /mm
5.02 2.34 2.68
4.86 2.45 2.41
5.12 1.84 3.28
4.67 2.03 2.64
4.89 1.76 3.13
4.87 2.13 2.74
5.07 1.98 3.09

Table 3. Calibration accuracy of different algorithms
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Table 3. Calibration accuracy of different algorithms
S /mm A /(°)
ICP Improved ICP Our method ICP Improved ICP Our method
21 12 7 15 3 2
25 13 4 19 3 1
29 10 5 18 4 2
22 13 3 17 5 2
24 9 5 19 3 1
21 7 4 16 4 4

Table 4. Time consuming of different algorithms
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Table 4. Time consuming of different algorithms
Algorithm Time-consuming /s
ICP 20.1
Improved ICP 15.2
Our method 3.4

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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

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