Accurate Intrinsic Calibration of Depth Camera with Cuboids

Due to the low precision, the consumer-grade depth sensor is often calibrated jointly with a color camera, and the joint calibration sometimes presents undesired interactions. In this paper, we propose a novel method to carry out the high-accuracy intrinsic calibration of depth sensors merely by the depth camera, in which the traditional calibration rig, checker-board pattern, is replaced with a set of cuboids with known sizes, and the objective function for calibration is based on the length, width, and height of cuboids and its angle between the neighboring surfaces, which can be directly and robustly calculated from the depth-map. We experimentally evaluate the accuracy of the calibrated depth camera by measuring the angles and sizes of cubic object, and it is empirically shown that the resulting calibration accuracy is higher than that in the state-of-the-art calibration procedures, making the commodity depth sensors applicable to more interesting application scenarios such as 3D measurement and shape modeling etc.