Calibration of dual laser-based range cameras for reduced occlusion in 3D imaging

A robust model-based calibration method for dual laser line active triangulation range cameras, with the goal of reducing camera occlusion via data fusion, is presented. The algorithm is split into two stages: line-based estimation of the lens distortion parameters in the individual cameras, and computation of the perspective transformation from each image to a common world frame in the laser plane using correspondences on a target with known geometry. Experimental results are presented, evaluating the accuracy of the calibration based on mean position error as well as the ability of the system to reduce camera occlusion.