Abstract: Our paper develops a dynamic calibration framework for the event-frame stereo camera system. In this framework, the first step is to complete the initial detection on a circle-grid calibration pattern, and a sliding-window time matching method is proposed to match the event-frame pairs. Then, a refining method is devised for two cameras to get the accurate information of the pattern. Particularly, for the event camera, a patch-size motion compensation method is designed to achieve time synchronization for two cameras and fit circles in an image of warped events. Finally, the pose between two cameras is globally optimized by constructing a pose-landmark graph with two types of edges.
- Ubuntu 18.04 && ROS Melodic
- dv-processing 1.4.0 for driving DAVIS346
- OpenCV 4.3.0
- nanoflann
- kd-tree
- Eigen3
- Ceres
- Sophus
- G2O
It is recommended that “dv-processing” is placed in the same ros workspace (e.g. /catkin_ws/src) as our code “EFSC_calib”. This is to provide custom ros messages “dv_ros_msgs”.
The prototype of the EFSC system contains a classical DAVIS346 camera with 346X260 pixel resolution and an 848X480 color camera module of Intel RealSense D435i.
It contains two testing setups: “parallel” setup and “hand-recorded” setup (The details can be found in the paper). These testing datasets includes:
- 65cm, 75cm, 85cm;
- hand1, hand2, hand3.
roslaunch efsc_ros_calib EFSC_calib.launch
Note that the path to the testing datasets should be changed.
If you find this work useful for you, please cite:
@ARTICLE{CalibEFSC,
author={Hu, Rui and Kogler, J{\"u}rgen and Gelautz, Margrit and Lin, Min and Xia, Yuanqing},
journal={IEEE Robotics and Automation Letters},
title={A Dynamic Calibration Framework for the Event-Frame Stereo Camera System},
year={2024},
volume={9},
number={12},
pages={11465-11472},
doi={10.1109/LRA.2024.3491426}}