D3-3.2 - Improvements of the Accuracy of Generic Extrinsic Camera Calibration with ICP

Event

23. ITG/GMA-Fachtagung Sensoren und Messsysteme 2026
2026-06-09 - 2026-06-10
Nürnberg

Band

Vorträge

Chapter

Optische und akustische Messverfahren

Author(s)

C. Schmerbeck, L. Dau, M. Heizmann - Karlsruhe Institute of Technology, Karlsruhe

Pages

291 - 296

DOI

10.5162/sensoren2026/D3-3.2

ISBN

978-3-910600-11-9

Price

free

Abstract

For the extrinsic calibration of a camera system, a precise estimation of a set of calibration points is necessary [1]. However, there are influences that reduce the accuracy of point localization, such as lighting, exposure time, and thereby resulting in the over- and underexposure of the recorded images. This paper demonstrates the influence of varying exposure times on the localization of ArUco calibration markers [2] for generic ICPbased extrinsic calibration [1, 3, 4]. We evaluated the perceived location of the marker corners and thus their perceived size for various exposure times due to blur and overexposure. Furthermore, we propose a method of enabling subpixel accuracy by combining adjacent rays with a weighted mean. For all settings, we quantified the effect on the extrinsic camera calibration. We found, that the markers appear smaller with increasing exposure times, which can be explained by blur of the marker borders.