PeLiCal: Targetless Extrinsic Calibration via Penetrating Lines for RGB-D Cameras with Limited Co-visibility

arXiv:2404.13949v1 Announce Type: new
Abstract: RGB-D cameras are crucial in robotic perception, given their ability to produce images augmented with depth data. However, their limited FOV often requires multiple cameras to cover a broader area. In multi-camera RGB-D setups, the goal is typically to reduce camera overlap, optimizing spatial coverage with as few cameras as possible. The extrinsic calibration of these systems introduces additional complexities. Existing methods for extrinsic calibration either necessitate specific tools or highly depend on the accuracy …

arxiv cameras cs.cv cs.ro rgb-d type via visibility