RGB-D Camera extrinsic parameter automatically calibration

Purpose

Automatically detect the ground plane, build the world coordinate and estimate the extrinsic parameter of the moving camera.

Rquirement

• MATLAB R2016 or newer
• have mj2 decoder (support mj2 video)

Run

• Download demo videos, and move "color.avi" and "depth.mj2" to work directory.
• cd work directory
• run "main"

Result

Our method can automatically detect the ground plane. Based the detected plane, we build a world coordinate and estimate the extrinsic parameters of the RGB-D camera.

Cite

If you use this method or inspired by this method, please cite the paper:

English version

• Sun S J, Song H S, Zhang C Y, Zhang W T, Wang X . Automatic extrinsic calibration for RGB-D camera based on ground plane detection in point cloud[J]. Journal of Image and Graphics, 2018, 23(6): 866-873.

Chinese version

• [孙士杰, 宋焕生, 张朝阳, 张文涛, 王璇. 点云下地平面检测的RGB-D相机外参自动标定[J]. 中国图象图形学报, 2018, 23(6): 866-873.][DOI: 10.11834/jig.170490]