Kosei: a Kinect Observation System Based on Kinect and Projector Calibration

In this paper, we present a new fully automatic method for the geometric calibration of a video projector combining structured light projection and a RGBD camera. The projection surface does not need to be planar and is supposed to be unknown. Intrinsic and extrinsic parameter are computed without a scale factor uncertainty or any prior knowledge about the projector. Our method is based on the Heikkila’s camera calibration algorithm. It combines Gray coded structured light patterns and a RGBD camera. While the structured light gives pixel to pixel correspondences between the projector and the camera, the depth map provides the 3D coordinates of the projected points. Couples of pixel coordinates and their corresponding 3D coordinates are established and used as input for the Heikkila’s algorithm. The implementation has given conclusive results. The calibration is used to reproject information from the RGBD camera in real-time.