Online Extrinsic Calibration of RGB and ToF Cameras

Date: January 17, 2023

architecture

Experiment 1

Canny Edge Extraction Results under Initial Calibration Extrinsics

The Canny edge extraction results of the navigation left camera image are displayed in green;

The Canny edge extraction results of the TOF camera image are projected onto the image pixel coordinate system of the navigation left camera through the initial calibration extrinsics and intrinsics and are displayed in red.

The initial extrinsics are calibrated offline.

4_edge_original

Canny Edge Extraction Results After Extrinsics Optimization Reprojection

The results after reprojection using the optimized extrinsics through nearest neighbor edge point association and navigation camera-TOF camera extrinsics optimization.

4_edge_calib