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Method and Device for Calibrating a 3D TOF Camera System

  • US 20120206575A1
  • Filed: 04/19/2012
  • Published: 08/16/2012
  • Est. Priority Date: 10/28/2009
  • Status: Active Grant
First Claim
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1. A method for calibrating a three dimensional time-of-flight camera system mounted on a moveable device, comprising the steps of:

  • detecting and identifying at least one object to be measured (MO, MO1/2);

    determining at a first instant a direction vector (d1) relating to at the least one object to be measured (MO, MO1/2);

    determining an expected direction vector (d1E) and an expected angle (α

    1E) for the object to be measured that are expected at a second instant (t′

    ) later than the first instant with reference to an assumed trajectory (TR′

    ) of the device and an assumed direction of the main optical axis HA of the camera system;

    detecting the object to be measured (MO, MO1, MO2) at the second instant (t′

    ) and determining a current direction vector (d1T) and current angle (α

    1T) with reference to the assumed trajectory (TR′

    ) of the device and assumed direction of the main optical axis HA of the camera system;

    determining an error represented by a difference between the current direction vector (d1T) and the expected direction vector (d1E); and

    using the error to correct the assumed direction of the main optical axis of the camera system such that said error is substantially eliminated.

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