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Unsupervised intrinsic calibration of depth sensors via SLAM
Alex Teichman, Stephen Miller, and Sebastian Thrun.
Robotics: Science and Systems (RSS) 2013.
RGBD sensors such as the Xtion Pro Live or Kinect typically have significant depth distortion beyond two or three meters. This paper introduces a method of calibrating away the distortion just by recording data from a handheld sensor. No calibration target, specialized hardware, or precise measurement is necessary. The method is more generally applicable, too, as it requires only that the intrinsic parameter in question be myopic: error in the parameter setting generates greater measurement error as range increases. This includes, for example, focal length and center pixel of a depth camera.
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