A plane-based method for extrinsic calibration of RGB and depth cameras
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Este artículo presenta un método, implementado en ROS2, para la calibración extrínseca de un conjunto heterogeneo de cámaras que incluyen tanto RGB como de profundidad. El método propuesto estima las poses relativas entre dichas cámaras a partir de la observacion de planos. Para ello, en primer lugar, se extraen y emparejan los vectores normales de las superficies planas de las imágenes (RGB y de profundidad). En segundo lugar, se plantea un problema de optimización que estima las rotaciones y traslaciones que minimizan los errores entre los pares de vectores normales en correspondencia. La aplicación utiliza algoritmos disponibles en librarias estándar para la extracción de planos (OpenCV, PCL) y optimización (Eigen). La eficacia y precisicón del método se ilustran en una configuración con dos cámaras RGB y una cámara de profundidad.
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