Calibrating Depth Sensors with a Genetic Algorithm

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Show simple item record Haeling, Jonas Schilling, Andreas Necker, Marc 2019-04-11T07:12:11Z 2019-04-11T07:12:11Z 2019-04-11
dc.identifier.other 1663107564 de_DE
dc.identifier.uri de_DE
dc.description.abstract In this report, we deal with the optimization of the transformation estimate between the coordinate systems of depth sensors, \ie sensors that produce 3D measurements. For that, we present a novel method using a genetic algorithm to refine the six degrees of freedom (6 DoF) transformation via three rotational and three translational offsets. First, we demonstrate the necessity for an accurate depth sensor calibration using a depth error model of stereo cameras. The fusion of stereo disparity assumes a Gaussian disparity error distribution, which we examine with different stereo matching algorithms on the widely-used KITTI visual odometry dataset. Our analysis shows that the existing calibration is not adequate for accurate disparity fusion. As a consequence, we employ our genetic algorithm on this particular dataset, which results in a greatly improved calibration between the mounted stereo camera and the Lidar. Thus, stereo disparity estimates show improved results in quantitative evaluations. de_DE
dc.language.iso en de_DE
dc.publisher Universität Tübingen de_DE
dc.publisher Universität Tübingen de_DE
dc.rights ubt-podok de_DE
dc.rights.uri de_DE
dc.rights.uri en
dc.subject.classification Algorithmus , Optimierung , Kamera , Stereokamera , Lidar de_DE
dc.subject.ddc 004 de_DE
dc.subject.other stereo vision en
dc.subject.other depth sensor calibration en
dc.subject.other genetic algorithm en
dc.subject.other kitti en
dc.subject.other optimization en
dc.title Calibrating Depth Sensors with a Genetic Algorithm de_DE
dc.type Report de_DE
utue.publikation.fachbereich Informatik de_DE
utue.publikation.fakultaet 7 Mathematisch-Naturwissenschaftliche Fakultät de_DE


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