# A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns

arXiv: https://arxiv.org/abs/1807.07856 · HTML: https://mlsanity.com/paper/1807.07856/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jul 2018.

## Built on by (most cited first, 1 of 1)

- [Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation](https://mlsanity.com/paper/2406.06374/) (2024)

## Abstract (arXiv)

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D mapping and robot navigation that can benefit from a 360^circ field of view using RGB-D cameras. The proposed approach relies on descriptor-based patterns to provide well-matched 2D keypoints in the case of a minimal overlapping field of view between cameras. Integrating the matched 2D keypoints with corresponding depth values, a set of 3D matched keypoints are constructed to calibrate multiple RGB-D cameras. Experiments validated the accuracy and efficiency of the proposed calibration approach, both superior to those of existing methods (800 ms vs. 5 seconds; rotation error of 0.56 degrees vs. 1.6 degrees; and translation error of 1.80 cm vs. 2.5 cm.