Calibration for Networks of Cameras and Depth Sensors

This paper presents a novel approach to the sensor network calibration problem. Its aim is to easily calibrate a network composed by heterogeneous sensors, taking advantage of the Robot Operating System (ROS) framework. The proposed approach is able to calibrate – in a unique and consistent reference frame – the extrinsic parameters of a network composed by standard cameras and depth sensors. Compared to other stateof-the-art implementations, the presented algorithm performs an online calibration and optimization with minimal human intervention. Results of both simulation and real experiments are provided.

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